CN107422728A - A kind of merchandising machine people lateral misalignment control method and merchandising machine people - Google Patents
A kind of merchandising machine people lateral misalignment control method and merchandising machine people Download PDFInfo
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Abstract
The embodiment of the present invention, which provides a kind of merchandising machine people lateral misalignment control method and merchandising machine people, methods described, to be included：Merchandising machine people's position initialization is carried out in two-dimensional bar code starting point；When the merchandising machine man-hour, judge whether the merchandising machine people reaches landmark point using camera or code-disc；Whether landmark point is reached according to the merchandising machine people, using the accurate method of dynamic Single-point preview, calculates course deviation and the lateral deviation of the merchandising machine people；According to the course deviation of the merchandising machine people and lateral deviation, the angular deviation of the merchandising machine people is calculated；According to the angular deviation of the merchandising machine people and speed, passing ratio integral derivative PID control adjusts the left and right wheel speed of the merchandising machine people, so as to control the merchandising machine people lateral misalignment.Above-mentioned technical proposal improves the precision of merchandising machine people guiding.
Description
Technical Field
The invention relates to the technical field of logistics robots, in particular to a logistics robot transverse deviation control method and a logistics robot.
Background
An Automated Guided Vehicle (AGV), which is a Vehicle equipped with an automatic guide device at a work site, can travel along a predetermined guide path, and has safety protection and various transfer functions, and belongs to a wheeled mobile robot. The AGV based on the visual or other sensor for identifying the landmark guides the AGV to travel along a preset track by acquiring ground landmark information through the vehicle-mounted sensor, and dynamically adjusts the posture of the AGV by utilizing data acquired by an encoder and a gyroscope in the traveling process, but the lateral deviation control of the AGV in the straight-line traveling process is still a problem which is difficult to solve.
Disclosure of Invention
The embodiment of the invention provides a logistics robot transverse deviation control method and a logistics robot, and aims to improve the guiding precision of the logistics robot.
In one aspect, an embodiment of the present invention provides a method for controlling a lateral deviation of a logistics robot, where the method includes:
initializing the position of a logistics robot at the starting point of the two-dimensional bar code;
when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point;
calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
and according to the angular deviation and the speed of the logistics robot, the rotating speeds of the left wheel and the right wheel of the logistics robot are controlled and adjusted through proportional-integral-derivative PID control, so that the transverse deviation of the logistics robot is controlled.
In another aspect, an embodiment of the present invention provides a logistics robot, where the logistics robot includes: the camera is arranged at the bottom of the logistics robot, is connected with the central processing unit and is used for collecting position information of two-dimensional bar code points on the ground; the coded disc is connected with the central processing unit and is used for calculating the running distance and judging whether the distance D between the coded disc and the bar code points is equal or not;
the central processing unit is used for initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, whether the logistics robot reaches a landmark point is judged by using the camera or the code disc;
the central processing unit is used for calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; and according to the angular deviation and the speed of the logistics robot, the rotating speeds of the left wheel and the right wheel of the logistics robot are controlled and adjusted through proportional-integral-derivative PID control, so that the transverse deviation of the logistics robot is controlled.
The technical scheme has the following beneficial effects: 1. a two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining a two-dimensional bar code point route, and the processing method is simple and accurate; 3. and the transverse deviation control of the AGV is realized by adopting PID control, and the transverse deviation control is easy to realize by adopting a simple module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a lateral deviation of a logistics robot according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a logistics robot according to an embodiment of the invention;
fig. 3 is an overall flowchart of an AGV lateral deviation control method according to an application example of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of an AGV lateral deviation control system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an embodiment of an AGV lateral deviation control apparatus according to an application example of the present invention;
fig. 6 is a schematic diagram of a motion model for controlling and adjusting an AGV by using an AGV yaw control method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of AGV initialization reference according to an embodiment of 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.
As shown in fig. 1, which is a flowchart of a method for controlling a lateral deviation of a logistics robot according to an embodiment of the present invention, the method includes:
101. initializing the position of a logistics robot at the starting point of the two-dimensional bar code;
102. when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
103. calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point;
104. calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
105. and according to the angular deviation and the speed of the logistics robot, the rotating speeds of the left wheel and the right wheel of the logistics robot are controlled and adjusted through proportional-integral-derivative PID control, so that the transverse deviation of the logistics robot is controlled.
Preferably, the logistics robot comprises an automatic guided vehicle AGV.
Preferably, the initializing the position of the logistics robot at the starting point of the two-dimensional bar code specifically comprises: and detecting a two-dimensional bar code point landmark and an initial position error at the AGV two-dimensional bar code initial point, and correcting the AGV course deviation.
Preferably, when the AGV works, whether the distance D between the AGV and the barcode point is equal is judged by detecting code disc data of the AGV to calculate a running distance, or whether two-dimensional barcode information is acquired by detecting whether the AGV receives the two-dimensional barcode information by using a camera to judge whether the logistics robot reaches the landmark point;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; the method comprises the following steps:
according to AGV lateral deviation, at the next two-dimensional bar code point of present position precalibration, dynamic calculation AGV angular deviation specifically includes: when the AGV does not reach a certain landmark point, the AGV travels on a path between the landmark points, calculates the current course deviation and the transverse deviation of the AGV by acquiring the travel distance of the left and right wheels of the AGV after a two-dimensional bar code point, and further calculates the angle deviation of the AGV according to the course deviation and the transverse deviation of the AGV; judging whether two-dimensional bar code information is collected or not when the AGV reaches a certain landmark point: if so, directly acquiring course deviation and transverse deviation of the AGV by acquiring two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
Preferably, the method for controlling the transverse deviation of the logistics robot by adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angular deviation and the speed of the logistics robot comprises the following steps:
the input voltage of the left and right wheel motors of the AGV is controlled and adjusted through linear addition of two PIDs (proportion integration differentiation) of a speed PID and an angle PID:
the speed PID is used for outputting the input voltage values of the motors of the left and right wheels of the AGV speed through the speed PID control by using the current left and right wheel rotating speed difference of the AGV and setting the AGV target speed as the control input;
the angle PID is controlled by taking the current angle deviation of the AGV as a control input, and the input voltage values of motors of left and right wheels of the angle of the AGV are output through angle PID control;
through inciting somebody to action AGV speed left and right sides wheel motor input voltage value with reach finally after the linear addition of wheel motor input voltage value about the AGV angle the walking of AGV is controlled to wheel motor input voltage adjustment value about the AGV, thereby control the AGV is horizontal deviation.
Corresponding to the above method embodiment, as shown in fig. 2, a schematic structural diagram of a logistics robot according to an embodiment of the present invention is shown, where the logistics robot includes: the camera 21 is arranged at the bottom of the logistics robot 20, connected with a central processing unit (not shown in fig. 2, located inside the logistics robot 20), and used for collecting position information of two-dimensional bar code points on the ground; the coded disc is connected with the central processing unit and is used for calculating the running distance and judging whether the distance D between the coded disc and the bar code points is equal or not;
the central processing unit is used for initializing the position of the logistics robot 20 at the starting point of the two-dimensional bar code; when the logistics robot 20 works, judging whether the logistics robot reaches a landmark point by using a camera 21 or a code disc;
the central processing unit is used for calculating the course deviation and the transverse deviation of the logistics robot 20 by using a dynamic single-point pre-aiming method according to whether the logistics robot 20 reaches a landmark point; calculating the angle deviation of the logistics robot 20 according to the course deviation and the transverse deviation of the logistics robot 20; and according to the angular deviation and the speed of the logistics robot 20, regulating the rotating speed of the left wheel 23 and the right wheel 23 of the logistics robot 20 through proportional-integral-derivative PID control, thereby controlling the transverse deviation of the logistics robot 20.
Preferably, the logistics robot 20 includes an automatic guided vehicle AGV.
Preferably, the central processing unit is specifically configured to detect a two-dimensional barcode point landmark and an initial position error at an initial point of the two-dimensional barcode of the AGV, and correct a heading deviation of the AGV.
Preferably, the code wheel 21 is specifically configured to calculate a running distance by detecting code wheel data of the AGV when the AGV works to determine whether the distance D between the code wheel and a barcode point is equal, or the camera is specifically configured to determine whether the logistics robot reaches a landmark point by detecting whether the AGV receives two-dimensional barcode information when the AGV works;
central processing unit specifically is used for according to AGV lateral deviation, at the next two-dimensional bar code point of present position precaution, dynamic calculation AGV angular deviation specifically includes: when the AGV does not reach a certain landmark point, the AGV travels on a path between the landmark points, calculates the current course deviation and the transverse deviation of the AGV by acquiring the travel distance of the left and right wheels of the AGV after a two-dimensional bar code point, and further calculates the angle deviation of the AGV according to the course deviation and the transverse deviation of the AGV; judging whether two-dimensional bar code information is collected or not when the AGV reaches a certain landmark point: if so, directly acquiring course deviation and transverse deviation of the AGV by acquiring two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
Preferably, the central processing unit is specifically configured to adjust the input voltage of the AGV left and right wheel motors by linear addition control of two PIDs, namely a speed PID and an angle PID: the central processing unit includes:
the speed PID control module is used for outputting the input voltage values of the AGV speed left and right wheel motors through speed PID control by using the current AGV left and right wheel rotation speed difference and setting the AGV target speed as control input;
the angle PID control module is used for outputting input voltage values of motors of left and right wheels of the AGV angle through angle PID control by taking the current angle deviation of the AGV as control input;
and the calculation module is used for obtaining final after linear addition of the AGV speed left wheel motor input voltage value and the AGV angle left wheel motor input voltage value, controlling the walking of the AGV and controlling the transverse deviation of the AGV.
The technical scheme of the embodiment of the invention has the following beneficial effects: 1. a two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining a two-dimensional bar code point route, and the processing method is simple and accurate; 3. and the transverse deviation control of the AGV is realized by adopting PID control, and the transverse deviation control is easy to realize by adopting a simple module.
The following describes in detail an embodiment of the invention by using an example of application in which a transport vehicle AGV is automatically guided by a logistics robot:
AGV control of traveling is one kind and has fused control, data processing, data acquisition etc., control technique through control wheel rotational speed and direction, horizontal deviation control is AGV control technique of traveling, control through the speed to two drive wheels of AGV, aim at the two-dimensional code ground mark in advance, the advantage of realizing AGV's horizontal deviation control is the real-time of horizontal deviation controlled variable collection and processing, and AGV horizontal deviation controlling means is simple, easily realizes, can provide a new AGV horizontal deviation control method and device.
The application example of the invention provides an AGV lateral deviation control method and device, which can use a pre-aiming two-dimensional code landmark to collect and process lateral deviation errors and control the AGV lateral deviation in real time, and has the advantages of simplicity and good real-time performance, the main steps in the implementation process are shown in figure 1, the specific detailed flow chart is shown in figure 3, and the structure related in the implementation process of the method is shown in figure 4, and the method comprises the following steps: the method comprises the following steps that an AGV301, a pose information acquisition unit 302, a rotating speed information acquisition unit 303, an AGV lateral deviation control device 304, a landmark information acquisition unit 305 and a landmark 306 are adopted, and the AGV lateral deviation control device 304 related in the specific implementation process of the method is structurally shown in the figure 5 and mainly comprises the following steps: the system comprises an information acquisition processing module 501, a central processing module 502, a power management module 503, a communication module 504 and a motor control module 505. Initializing the position by an AGV at a starting point; firstly, judging whether the AGV reaches an landmark point on a driving path; if the AGV acquires the two-dimensional code information, the current course angle and the transverse deviation of the AGV can be directly acquired, and the angle deviation of the AGV is calculated according to the current course angle and the transverse deviation; if the AGV does not reach the landmark point, that is, the two-dimensional code information is not obtained, the AGV calculates the current course angle and the transverse deviation of the AGV through code disc data and gyroscope data, and calculates the angle deviation of the AGV according to a dynamic single-point pre-aiming method; the rotating speed of left and right wheels of the AGV is regulated through PID control, and the running course and the transverse deviation of the AGV are dynamically regulated; and when the adjustment period is finished, re-entering the next adjustment process. The specific implementation of the method proposed by this patent is described as follows:
after the AGV301 is started, firstly, performing a first step, namely initializing an AGV position;
the AGV301 detects whether a two-dimensional bar code of the initial point exists at the initial bar code point through the landmark information acquisition unit 305, and if not, the initialization fails; if the two-dimensional bar code is detected, the landmark information acquisition unit 305 outputs the current transverse deviation of the AGV and the heading deviation of the AGV; judging whether the deviation of the AGV course is within an error allowable range, if not, adjusting the AGV course in situ to be within the error allowable range; if so, the initialization is successful.
After the initialization of the AGV301 is completed, the communication module 504 receives an instruction of an upper computer to drive along a preset path, and in the driving process, whether the AGV301 reaches a bar code point is judged; namely, executing the step two;
there are two states of the AGV during travel:
(1) the AGV does not reach a certain landmark point, but travels on a path between the landmark points;
(2) the AGV reaches a certain landmark point, namely a two-dimensional bar code point.
There are two conditions for determining the AGV state:
the first condition is as follows: acquiring the accumulated pulse number of the left and right AGV wheels after the last bar code point through a rotating speed information acquisition unit 303, and further calculating whether the running distance of the AGV301 reaches a fixed distance D between the bar code points;
the travel distance calculation formula is as follows:
SL，SRthe running distance of the AGV left and right wheels, QL，QRThe accumulated pulse numbers of the coded discs of the left wheel and the right wheel of the AGV are respectively, Q is the fixed pulse number sent by the coded discs of the AGV rotating for one circle, R is the wheel diameter of the AGV, and S is the running distance of the AGV.
And a second condition: by detecting whether the landmark information acquisition unit 305 has data to output;
the relation between the condition one and the condition two is logical or, namely, as long as one condition is yes, the AGV is considered to have reached the next barcode point and is in the state two; after the judgment is finished, executing the step three; calculating the angle deviation of the AGV according to a dynamic single-point pre-aiming method;
in the first state, the AGV runs on a path between landmark points, the running distance of the left wheel and the right wheel of the AGV after one barcode point is acquired through the rotating speed information acquisition unit 303, the current course deviation and the transverse deviation of the AGV are calculated, and the angle deviation of the AGV is further calculated; the calculation formula is as follows:
the transverse deviation and the course of the AGV are regulated to be right deviation as positive;
referring to time T2 in fig. 6:
wherein ,the AGV course variation from T1 to T2 moment calculated by code disc data, L is the distance between the left and right wheels of the AGV, βet2AGV heading angle at time T2 estimated from code wheel data, βt1AGV heading angle at time T1, βgt2KF is a Kalman filter, β, for the AGV heading angle acquired by the gyroscope at the time of T2t2To pass through pair βet2，βgt2 intoAnd (5) obtaining an optimal estimated value of the AGV course through linear Kalman filtering estimation.
Referring to FIG. 7, using the dynamic single-point pre-targeting method, the AGV pre-targets the next barcode point and calculates the AGV angular deviation θ at time T2t2：
wherein ,SLt2，SRt2The distance traveled by the AGV left and right wheels from time t1 to time t2, SiThe distance the AGV travels in the ith cycle after leaving the last barcode point.
(2) In the second state, it is first determined whether two-dimensional barcode information is acquired through data output of the landmark information acquisition unit 305.
If so, directly acquiring course deviation and transverse deviation of the AGV by acquiring two-dimensional bar code information, and further calculating the angle deviation of the AGV; calculating the process as state one; if not, calculating according to the state one time.
And step four is executed, the rotating speed of the left wheel and the rotating speed of the right wheel of the AGV are regulated through PID control, and the step two is returned. Assuming that the current AGV is in the ith period after leaving a certain code point; the input voltage of the left and right wheel motors of the AGV is controlled and adjusted by linear addition of a speed PID and an angle PID through PID control; the speed PID is used for outputting the input voltage values of the motors of the left wheels and the right wheels of the AGV through the speed PID control by taking the current left-right wheel rotation speed difference of the AGV and the set AGV target speed as control input; the angle PID is controlled by taking the current angle deviation of the AGV as a control input, and outputs the input voltage adjustment quantity of the left and right wheel motors of the AGV through angle PID control; and finally, the AGV left and right wheel motor input voltage adjustment quantity is obtained after the linear addition of the speed PID and the AGV left and right wheel motor input voltage adjustment quantity output by the angle PID, and the traveling of the AGV is controlled.
The detailed calculation process is as follows:
velocity PID formula:
angle PID formula:
wherein ：VLtiThe AGV left wheel speed at time ti, SLtiDistance of left wheel travel between time ti and the previous time, VRtiAGV Right wheel speed at time ti, SRtiDistance traveled by the right wheel between time ti and the previous time, VtiSpeed of AGV at time ti, VsetThe speed set for the upper computer to send instructions to the AGV,vol, the difference between the speed set for the AGV at time ti and the current speedvtiAdjusting voltage value K for AGV left and right wheel motors with speed PID output at time tiv，Iv，DvProportional coefficient, integral coefficient, differential coefficient, Vol in velocity PIDθtiAdjusting voltage value Vol for AGV left and right wheel motors with angle PID output at time tiLti，VolRtiAnd the final input voltage values of the left and right wheel motors of the AGV at the time ti are respectively.
And after the AGV motor voltage is determined, the attitude and the transverse deviation of the AGV are adjusted, the step II is continuously executed, the process is circulated, and the attitude and the transverse deviation of the AGV are dynamically adjusted by using a dynamic single-point pre-aiming method in the running process of the AGV.
The technical scheme has the following beneficial effects: 1. a two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining a two-dimensional bar code point route, and the processing method is simple and accurate; 3. and the transverse deviation control of the AGV is realized by adopting PID control, and the transverse deviation control is easy to realize by adopting a simple module.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. 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 embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A logistics robot transverse deviation control method is characterized by comprising the following steps:
initializing the position of a logistics robot at the starting point of the two-dimensional bar code;
when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point;
calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
and according to the angular deviation and the speed of the logistics robot, the rotating speeds of the left wheel and the right wheel of the logistics robot are controlled and adjusted through proportional-integral-derivative PID control, so that the transverse deviation of the logistics robot is controlled.
2. The logistics robot yaw control method of claim 1, wherein the logistics robot comprises an Automated Guided Vehicle (AGV).
3. The logistics robot lateral deviation control method of claim 2, wherein the initialization of the position of the logistics robot at the starting point of the two-dimensional bar code specifically comprises:
and detecting a two-dimensional bar code point landmark and an initial position error at the AGV two-dimensional bar code initial point, and correcting the AGV course deviation.
4. The logistics robot yaw control method of claim 2, wherein when the AGV is working, whether the distance D between the AGV and the barcode point is equal is judged by detecting code disc data of the AGV to calculate a running distance, or whether the two-dimensional barcode information is acquired by detecting whether the AGV receives the two-dimensional barcode information by using a camera to judge whether the logistics robot reaches the landmark point;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; the method comprises the following steps:
according to AGV lateral deviation, at the next two-dimensional bar code point of present position precalibration, dynamic calculation AGV angular deviation specifically includes: when the AGV does not reach a certain landmark point, the AGV travels on a path between the landmark points, calculates the current course deviation and the transverse deviation of the AGV by acquiring the travel distance of the left and right wheels of the AGV after a two-dimensional bar code point, and further calculates the angle deviation of the AGV according to the course deviation and the transverse deviation of the AGV; judging whether two-dimensional bar code information is collected or not when the AGV reaches a certain landmark point: if so, directly acquiring course deviation and transverse deviation of the AGV by acquiring two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
5. The method for controlling the lateral deviation of the logistics robot as claimed in claim 2, wherein the method for controlling the lateral deviation of the logistics robot by adjusting the rotating speeds of the left and right wheels of the logistics robot through proportional-integral-derivative PID control according to the angular deviation and the speed of the logistics robot comprises the following steps:
the input voltage of the left and right wheel motors of the AGV is controlled and adjusted through linear addition of two PIDs (proportion integration differentiation) of a speed PID and an angle PID:
the speed PID is used for outputting the input voltage values of the motors of the left and right wheels of the AGV speed through the speed PID control by using the current left and right wheel rotating speed difference of the AGV and setting the AGV target speed as the control input;
the angle PID is controlled by taking the current angle deviation of the AGV as a control input, and the input voltage values of motors of left and right wheels of the angle of the AGV are output through angle PID control;
through inciting somebody to action AGV speed left and right sides wheel motor input voltage value with reach finally after the linear addition of wheel motor input voltage value about the AGV angle the walking of AGV is controlled to wheel motor input voltage adjustment value about the AGV, thereby control the AGV is horizontal deviation.
6. A logistics robot, characterized in that the logistics robot comprises: the camera is arranged at the bottom of the logistics robot, is connected with the central processing unit and is used for collecting position information of two-dimensional bar code points on the ground; the coded disc is connected with the central processing unit and is used for calculating the running distance and judging whether the distance D between the coded disc and the bar code points is equal or not;
the central processing unit is used for initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, whether the logistics robot reaches a landmark point is judged by using the camera or the code disc;
the central processing unit is used for calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; and according to the angular deviation and the speed of the logistics robot, the rotating speeds of the left wheel and the right wheel of the logistics robot are controlled and adjusted through proportional-integral-derivative PID control, so that the transverse deviation of the logistics robot is controlled.
7. The logistics robot of claim 6, wherein the logistics robot comprises an Automated Guided Vehicle (AGV).
8. The logistics robot of claim 7,
the central processing unit is specifically used for detecting the two-dimensional bar code point landmark and the initial position error at the AGV two-dimensional bar code initial point and correcting the AGV course deviation.
9. The logistics robot of claim 7,
the coded disc is specifically used for calculating a running distance through detecting coded disc data of the AGV to judge whether the distance D between the coded disc data and the bar code points is equal or not when the AGV works, or the camera is specifically used for judging whether the logistics robot reaches the landmark points or not by detecting whether the AGV receives and acquires two-dimensional bar code information or not when the AGV works;
central processing unit specifically is used for according to AGV lateral deviation, at the next two-dimensional bar code point of present position precaution, dynamic calculation AGV angular deviation specifically includes: when the AGV does not reach a certain landmark point, the AGV travels on a path between the landmark points, calculates the current course deviation and the transverse deviation of the AGV by acquiring the travel distance of the left and right wheels of the AGV after a two-dimensional bar code point, and further calculates the angle deviation of the AGV according to the course deviation and the transverse deviation of the AGV; judging whether two-dimensional bar code information is collected or not when the AGV reaches a certain landmark point: if so, directly acquiring course deviation and transverse deviation of the AGV by acquiring two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
10. The logistics robot of claim 7, wherein the central processing unit is specifically configured to adjust the input voltage of the AGV left and right wheel motors by linear addition control of two PIDs, namely a speed PID and an angle PID: the central processing unit includes:
the speed PID control module is used for outputting the input voltage values of the AGV speed left and right wheel motors through speed PID control by using the current AGV left and right wheel rotation speed difference and setting the AGV target speed as control input;
the angle PID control module is used for outputting input voltage values of motors of left and right wheels of the AGV angle through angle PID control by taking the current angle deviation of the AGV as control input;
and the calculation module is used for obtaining final after linear addition of the AGV speed left wheel motor input voltage value and the AGV angle left wheel motor input voltage value, controlling the walking of the AGV and controlling the transverse deviation of the AGV.
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