CN110262517B - Trajectory tracking control method of AGV (automatic guided vehicle) system - Google Patents

Trajectory tracking control method of AGV (automatic guided vehicle) system Download PDF

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CN110262517B
CN110262517B CN201910648146.XA CN201910648146A CN110262517B CN 110262517 B CN110262517 B CN 110262517B CN 201910648146 A CN201910648146 A CN 201910648146A CN 110262517 B CN110262517 B CN 110262517B
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agv
steering wheel
steering
eccentric
pose
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CN110262517A (en
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杜惠斌
刘静怡
李中胜
张荣山
李财盛
李江楠
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Shijiazhuang Chenzhou Intelligent Equipment Co ltd
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Shijiazhuang Chenzhou Intelligent Equipment Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Abstract

The invention discloses a track tracking control method of an AGV (automatic guided vehicle) system, which belongs to the technical field of automatic control and comprises three steps of establishing a vehicle body coordinate system, calculating a coordinate value and an eccentric value of an eccentric steering wheel, defining an application scene and a task track and controlling the AGV body to track the given task track. Firstly, a trajectory tracking module of the AGV control device calculates trajectory tracking deviation according to a given task trajectory and current AGV pose data and gives a corrected motion instruction, and then a pose decoupling kinematics module of the control device converts the motion instruction into a steering angle and an advancing speed of each eccentric steering wheel. Therefore, the servo motor of the eccentric steering wheel device can drive the AGV to advance according to the solved steering angle and the advancing speed; the method not only can change the advancing direction without changing the posture of the vehicle body, but also can rotate the posture of the vehicle body randomly while advancing along the appointed track, and fully exerts the advantages of high flexibility and good stability of the movement of the AGV system with the steering wheel structure.

Description

Trajectory tracking control method of AGV (automatic guided vehicle) system
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to an AGV system with a plurality of eccentric steering wheels and an AGV pose decoupling track tracking control method.
Background
An AGV, an Automated Guided Vehicle, automatically moves an article from one location to another location through a preset program, and is an automatic, information and intelligent device. The structure of an AGV system in the current market mainly comprises a differential wheel structure, a Mecanum wheel structure, a steering wheel structure and the like. The differential wheel has simple and reliable structure and easy control, but the posture of the vehicle body is coupled with the advancing direction, the rotation center must be positioned on the axes of the two differential wheels, and the motion flexibility is poor; the Mecanum wheel structure overcomes the defects of a differential wheel structure, but also introduces the defects of high cost, poor motion stability and the like; common steering wheel structures include single steering wheels, double steering wheels and the like, wherein the single steering wheel structure is essentially consistent with a differential wheel structure, but the structure is more compact and is commonly used for a forklift system; the double-steering wheel structure can realize the forward direction conversion under the condition of not changing the posture of the vehicle body, has the advantages of high motion flexibility and good motion stability, and has lower cost than a Mecanum wheel structure. Theoretically, a multi-steering wheel AGV system represented by double steering wheels can realize arbitrary rotation of the posture of a vehicle body while advancing along an appointed track, but the motion control difficulty is high, and no application case exists in the domestic market at present. In addition, in order to overcome the defects that the height of a driving wheel is higher and the size of the driving wheel is larger because the driving wheel is positioned right below a steering shaft in the traditional steering wheel, a novel eccentric steering wheel with the driving wheel far away from the steering shaft begins to appear, and the novel eccentric steering wheel brings new difficulties for the motion control of the novel eccentric steering wheel.
Disclosure of Invention
The invention aims to provide a track tracking control method for decoupling the pose of an AGV (automatic guided vehicle) system with multiple eccentric steering wheels, so that the AGV system can advance along a specified track and can rotate the pose of a vehicle body at will. And (3) giving a feedback control rate when the AGV body deviates from the preset track due to wheel slip and the like by a backstepping method to obtain a corrected motion instruction, then solving the steering angle and the advancing speed of each eccentric steering wheel by the motion instruction through pose decoupling kinematics, and driving the AGV body to move by a servo motor of the eccentric steering wheel according to the steering angle and the advancing speed.
In order to solve the technical problems, the invention adopts the technical scheme that:
a trajectory tracking control method of an AGV system is based on the AGV system with at least 2 eccentric steering wheel devices and is characterized by comprising the following steps:
step A, establishing an AGV body coordinate system { A } fixedly connected with the AGV body by taking the advancing direction of the AGV body as an X axis and an appointed arbitrary reference point A as an origin when steering shafts in all eccentric steering wheel devices are positioned at zero positions, and calculatingOut of the centre O of each steering shaftiCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]And the eccentricity value b of the driving wheeli；
Step B, establishing a ground rectangular coordinate system { W } under an AGV system application scene and giving the AGV body pose [ x, y, alpha ] by an upper-layer planner]Motion trajectory { Path } under the ground rectangular coordinate system { W }:
Figure BDA0002134236820000021
wherein t is time;
step C, calculating the track tracking deviation and the corrected motion instruction at any time after the AGV system starts to move, and solving the steering angle of each eccentric steering wheel of the AGV according to the corrected motion instructionAβi,rAnd a forward speed vi,rAnd controlling the eccentric steering wheel device to drive the AGV system to move according to the steering angle and the advancing speed obtained by solving.
The method provided by the invention aims at the AGV system with a plurality of eccentric steering wheels, not only can change the advancing direction under the condition of not changing the posture of the vehicle body, but also can randomly rotate the posture of the vehicle body while advancing along the appointed track, and fully exerts the advantages of high flexibility and good stability of the AGV system with the steering wheel structure; the combined navigation and positioning are realized through the vision camera and the IMU or the vision camera and the odometer, the dependence of the traditional method on special reference objects (such as magnetic stripes, RFID beacons, two-dimensional code arrays and the like) is avoided, only common ground reference objects (such as floors, tiles and the like) are needed, the on-site construction cost, the difficulty and the workload are greatly reduced, the vision camera shoots the ground downwards in the vehicle body, the shielding of personnel or obstacles (such as laser reflection plates, laser radars and the like) is not afraid, and the method is suitable for application occasions of dynamic non-structural environments. .
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an AGV system having multiple eccentric steerable wheel assemblies according to the present invention;
FIG. 2 is a schematic diagram of an AGV system with two eccentric steering wheel assemblies according to the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of the dual steerable wheel AGV of FIG. 2;
FIG. 4 is a schematic diagram of the AGV system in accordance with the present invention in an arbitrary rotating body attitude while following a prescribed trajectory;
FIG. 5 is a schematic control diagram of the control device in the AGV system of the present invention;
FIG. 6 is a schematic diagram of attitude decoupled kinematics in a method of the present invention;
FIG. 7 is a schematic view of a coordinate system established with a floor using wood flooring;
FIG. 8 is a schematic view of a coordinate system established for a floor surface using ceramic tiles;
FIG. 9 is a schematic diagram of a grid map automatically generated from a reference;
FIG. 10 is a schematic illustration of a camera field of view computed from IMU data and a real field of view captured by a vision camera.
In the drawings: the device comprises a connecting support 1, a walking driving motor 2, a steering wheel 3, a steering driving motor 4, a steering shaft 5, a chain transmission assembly 6 and a universal wheel 7.
Detailed Description
Referring to fig. 1, the present invention provides an AGV system having a plurality of eccentric steerable wheel units, and the AGV system has at least 2 eccentric steerable wheel units for driving a vehicle body to move. The eccentric steering wheel device comprises a driving wheel, a steering shaft for adjusting the direction of the driving wheel and a necessary auxiliary mounting and fixing component. A driving wheel of the eccentric steering wheel device is in contact with the ground to drive the AGV body to move forward; and the drive wheel is not located directly below the steering shaft but is eccentric to the steering shaft.
Specifically, referring to fig. 2 and 3, the AGV system includes an AGV body provided with universal wheels 7 and an eccentric steering wheel device for driving the AGV body to move. The eccentric steering wheel device comprises a steering wheel assembly and a steering driving assembly for driving the steering wheel assembly to rotate eccentrically. One or more universal wheels 7 are respectively arranged at four corners of the bottom of the vehicle body. The eccentric steering wheel device can be provided with 2, 3 or more than two eccentric steering wheel devices according to requirements.
The steering wheel assembly comprises a connecting support 1, a walking driving motor 2 fixed on the connecting support 1 and a driving wheel 3 connected with an output shaft of the walking driving motor 2.
The steering driving assembly comprises a steering driving motor 4 fixed on the AGV body, a steering shaft 5 and a chain transmission assembly 6 arranged between an output shaft of the steering driving motor 4 and the steering shaft 5. The steering shaft 5 is connected to the connecting bracket 1 and is located on one side of the drive wheel 3. The steering shaft 5 is of a sleeve type structure so as to be convenient for installing a slip ring matched with the motor in a cavity of the steering shaft.
The AGV system is provided with a control device matched with the eccentric steering wheel device, the control device comprises a user operation interface module, a wireless communication module, a navigation positioning module, an upper track planner module, a servo motor control module, a safety collision avoidance module, a system log module and the like, and a track tracking controller module and a pose decoupling kinematics module which are related to the method, and the flow chart is shown in FIG. 5. And the trajectory tracking controller module is used for solving the pose deviation and the corrected motion instruction according to the trajectory instruction of the upper-layer planner and the parameters such as the current pose of the AGV. And the pose decoupling kinematics module solves the steering angle and the advancing speed of each eccentric steering wheel of the AGV according to the corrected motion instruction, as shown in FIG. 6. The servo motor of the eccentric steering wheel can drive the AGV body to move according to the steering angle and the advancing speed, so that the AGV can advance along any curve and can rotate the posture of the AGV body at will, as shown in FIG. 4.
Referring to the attached drawings 5 and 6, based on the AGV system, the invention provides a track tracking control method for decoupling the positions and postures of the AGV with multiple eccentric steering wheels, which comprises three steps of establishing a vehicle body coordinate system, calculating coordinate values and eccentric values of the eccentric steering wheels, defining an application scene and a task track, and controlling the AGV body to track a given task track. Firstly, a trajectory tracking module of the AGV control device calculates trajectory tracking deviation according to a given task trajectory and current AGV pose data and gives a corrected motion instruction, and then a pose decoupling kinematics module of the control device converts the motion instruction into a steering angle and an advancing speed of each eccentric steering wheel. Therefore, the servo motor of the eccentric steering wheel device can drive the AGV to advance according to the solved steering angle and the advancing speed; the method not only can change the advancing direction without changing the posture of the vehicle body, but also can rotate the posture of the vehicle body randomly while advancing along the appointed track, and fully exerts the advantages of high flexibility and good stability of the movement of the AGV system with the steering wheel structure.
The trajectory tracking control method comprises the following steps:
step A, randomly appointing one point of the AGV body as a reference point A, establishing an AGV body coordinate system { A } fixedly connected with the AGV body by taking the reference point as an original point and taking the advancing direction of the AGV body as an X axis when the steering shafts 5 in all the eccentric steering wheel devices are positioned at zero positions, and calculating the centers O of the steering shafts of all the eccentric steering wheel devicesiCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]And the eccentricity value b of the driving wheeli。
B, establishing a ground rectangular coordinate system { W } under an AGV application scene, and giving a motion track { Path } of an AGV body pose [ x, y, alpha ] under the ground rectangular coordinate system { W } by an upper-layer planner:
Figure BDA0002134236820000041
wherein t is time.
The AGV body pose comprises a body position and a body posture. Wherein, the AGV body position is the coordinate value [ x, y ] of the origin of the AGV body coordinate system { A }, namely the coordinate value of the reference point A under the ground rectangular coordinate system { W }](ii) a The AGV body posture is an included angle alpha between the X-axis positive direction of the AGV body coordinate system { A } and the X-axis positive direction of the ground rectangular coordinate system { W }. Positional translation velocity vector at AGV reference point A
Figure BDA0002134236820000048
The included angle between the forward direction of the X axis of the AGV body coordinate system { A } is the steering angle of the AGV body and is recorded asABeta; an included angle between the forward direction of the X axis of the rectangular coordinate system { W } and the ground is an advancing direction angle of the AGV body, and is marked as beta; satisfy beta ═ between the twoAβ+α。
The motion trail { Path } specifies the change relation of the position and the attitude of the AGV body along with the time t, and the position and the attitude of the AGV body are independent.
And step C, at any time (as shown in fig. 4) after the AGV starts to move, calculating a trajectory tracking deviation and a corrected motion instruction, namely a position translation speed instruction by the trajectory tracking controller module according to the trajectory instruction given by the upper planner and the actual pose of the AGV at the current time
Figure BDA0002134236820000049
And attitude rotational speed command vα,r(ii) a Then, the pose decoupling kinematics module calculates the steering angles of all the eccentric steering wheels according to the corrected motion instructionAβi,rAnd a forward speed vi,r. Therefore, the servo motor of the eccentric steering wheel device can drive the AGV to move according to the solved steering angle and the solved forward speed.
The method for calculating the trajectory tracking deviation and the corrected motion instruction by the trajectory tracking controller module comprises the following steps of:
s1: target pose [ x ] given by motion trail { Path } of AGV body reference pointt,yt,αt]And the actual pose [ x ] of the AGV body at the current momenta,ya,αa]And the steering angle of the AGV body at the current momentAβaCalculating the trajectory tracking deviation xe,ye,αe]：
Figure BDA0002134236820000042
S2: position translation velocity vector given by motion track { Path } at AGV body reference point
Figure BDA0002134236820000043
Attitude rotational speed vα,tAnd the actual attitude rotating speed v of the AGV body at the current momentα,aAnd track following deviation [ x ]e,ye,αe]Calculating a corrected motion command, i.e., a position translation velocity command
Figure BDA0002134236820000044
And attitude rotational speed command vα，r：
Figure BDA0002134236820000045
Figure BDA0002134236820000046
Wherein the content of the first and second substances,
Figure BDA0002134236820000047
Figure BDA0002134236820000051
k1and k2Gain factor, empirical value. The formula is derived by a backstepping method of a classical feedback control method.
Referring to fig. 6, the pose decoupling kinematics module calculates the steering angles of all the eccentric steering wheels according to the corrected motion commandAβi,rAnd a forward speed vi,rThe method comprises the following steps:
p1: first, the instantaneous center of the speed of the AGV body movement is calculated. The compound motion of the positional translation and attitude rotation of the AGV body along the track { Path } is a planar rigid motion, and the position translation speed is determined according to the running property of the planar rigid motion
Figure BDA0002134236820000052
And attitude rotational velocity vα,rSolving the instantaneous center O of rigid motion as [ x ] according to the following formulaO,yO]T：
Figure BDA0002134236820000053
In the formula, the first step is that,
Figure BDA0002134236820000054
the plane vector pointing to the AGV body reference point A from the instantaneous center of motion O can be obtained by solving the following plane rigid body motion properties:
Figure BDA0002134236820000055
wherein'×' denotes a vector cross product.
P2: the center O of the steering shaftiCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]Converting to [ x ] under ground rectangular coordinate system [ W ]i,yi]Then calculating the steering center O of the eccentric steering wheeliVelocity vector of translation of
Figure BDA0002134236820000056
Because the steering shaft 5 of the eccentric steering wheel device is fixedly connected with the AGV body, the steering shaft and the AGV body meet the rigid motion property of a plane. For plane rigid body motion, the speed, including the size and the direction, of any fixed connection point on the AGV body can be solved through the speed instant center and the attitude rotating speed of the AGV body motion; from the speed direction the steering angle of the eccentric rudder wheel device can be calculated. Then can be driven by the steering shaft center OiVelocity vector of plane motion of
Figure BDA00021342368200000514
Obtaining the steering angle of the eccentric steering wheel deviceAβi,r. Before calculating the speed direction of the steering shaft in the eccentric steering wheel device, the center O of the steering shaft needs to be firstly calculatediCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]Converting to [ x ] under ground rectangular coordinate system [ W ]i,yi]：
Figure BDA0002134236820000057
Then, the steering shaft center O is calculatediVelocity vector of plane motion of
Figure BDA00021342368200000513
Figure BDA0002134236820000058
Wherein'×' denotes a vector cross product;
Figure BDA0002134236820000059
to point from the instant center of motion O to the steering shaft center OiThe plane vector of (a) is,
Figure BDA00021342368200000510
p3: calculating the steering angle of an eccentric steering wheelAβi,rAnd the forward speed v of the eccentric steering wheeli,r。
Wherein the steering angle of the eccentric steering wheel
Figure BDA00021342368200000511
Forward speed of eccentric steering wheel
Figure BDA00021342368200000512
Since the driving wheel 3 of the eccentric steering wheel device can rotate around its steering shaft, it does not satisfy the property of planar rigid motion with the AGV body. The contact point between the driving wheel 3 and the ground is changed relative to the AGV body (projected on the AGV body is a circle with the steering shaft as the center and the eccentricity as the radius), so the speed of the driving wheel 3 of the eccentric steering wheel device is not equal to the center O of the steering shaftiBut there is an eccentricity compensation quantity. The eccentric compensation quantity is composed of two parts, one part is attitude rotating speed vα,rAnd position translation velocity vector
Figure BDA0002134236820000061
Steering angular velocity ωOi,rAnd eccentricity biA compensation amount for the interaction; the other part is the eccentricity compensation quantity caused by the movement of the eccentric steering wheel from the steering angle at the last moment to the steering angle at the current moment. While calculating the steering angular velocity ωOi,rPreviously, the translation acceleration vector at the steering shaft needs to be calculated
Figure BDA0002134236820000066
Figure BDA0002134236820000062
Translational velocity vector at steering shaft of AGV eccentric steering wheel
Figure BDA0002134236820000063
And translational acceleration vector
Figure BDA0002134236820000064
Calculating the steering speed omega of the translation speed vectorOi,r：
Figure BDA0002134236820000065
The track tracking control method can be suitable for an AGV system consisting of any plurality of eccentric steering wheels, and the steering angle of each eccentric steering wheel is respectively solved for any given AGV trackAβi,rAnd a forward speed vi,rThe AGV can randomly rotate the posture of the vehicle body while advancing along any curve, so that the decoupling of the position and the posture of the AGV is realized (namely the change of the posture along with time is independent, and no coupling exists between the position and the posture).
And a visual camera and a corresponding light supplement lamp for detecting the ground rule reference object are arranged at the bottom of the AGV system. The visual camera shoots ground information to obtain the pose (position and posture) of the AGV system under a ground coordinate system. The AGV system is provided with an IMU or a milemeter and is used for acquiring moving data of the AGV system in the moving process. Therefore, through the visual camera and the IMU or the visual camera and the odometer, the invention also provides a combined navigation positioning method, which is based on the ground with the regular reference object and is suitable for application scenes such as stages. The ground with the regular reference object refers to the reference object regularly laid on the ground, such as wood floor, ceramic tile sticker and other random splicing materials or the spraying and pasting marks capable of forming a linear grid, as shown in the attached figures 7 and 8.
The combined navigation determination method comprises the following steps:
step U, establishing a coordinate system: and B, dividing the plane rectangular coordinate system { W } (established by taking any point on the ground in the scene to be applied as an origin) established in the step B into a preparation area and a working area. And pasting a series of two-dimensional codes with pose information in the preparation area. The self information of the two-dimensional code and the corresponding pose information [ x ] under the ground plane rectangular coordinate system { W }q,yq,αq]A configuration file for the controller within the AGV is maintained.
Step V, setting a configuration file: the size information of the rule reference is input to the configuration file of the controller of the AGV.
Referring to FIG. 9, the length and width of a floor reference (e.g., floor, tile, etc.) [ l ]f,wf]And the included angle alpha between the length direction (artificially designated) and the X-axis direction of the rectangular coordinate system { W } of the ground planefSaving the configuration file to the control device; the AGV control device automatically generates a grid map, that is, a linear family corresponding to a ground grid line, from the configuration file: { M } ═ LX }. ═ { [ LX }. ≡ LY }.
Step W, AGV initializes: after the AGV is electrified, the AGV is manually controlled to pass through the two-dimensional code identification, the vision camera scans the two-dimensional code identification and obtains absolute position information of the AGV in a ground plane rectangular coordinate system through calculation of the control device, and initialization of the AGV is completed.
Specifically, after the AGV is powered on in the preparation area, an operator manually controls the AGV to pass through the area pasted with the two-dimensional code, and after the vision camera scans the two-dimensional code, the control device automatically calculates absolute position information [ x ] of the AGV in a ground plane rectangular coordinate system { W } through a configuration filea,ya,αa]And completing the initialization of the AGV.
Step X, integrated navigation and positioning: referring to fig. 10, in the motion process of the AGV after initialization, the visual camera collects reference object information, the control device solves the AGV position data of the current time by using the collected reference object information through a plane geometric relationship, and the obtained AGV position data and the IMU or odometer data are fused through a kalman filtering algorithm to complete combined navigation positioning.
In a short movement process after the initialization of the AGV is completed, the IMU or the odometer is responsible for navigation and positioning of the AGV at the moment in a short time interval when the visual camera cannot acquire effective map information.
In the movement process after the initialization of the AGV is completed, after the visual camera acquires effective map information (such as gaps and grid lines of a floor or a ceramic tile) and the control device solves possible pose data of the AGV at the moment by using a plane geometric relation, and the pose data and IMU or odometer data are fused through a Kalman filtering algorithm to complete the combined navigation positioning.
Specifically, the method for solving the AGV pose data by the control device through the acquired reference object information by using the plane geometric relationship comprises the following steps of:
x11: and reading the ground image acquired by the vision camera.
X12: detecting straight lines in the image after graying, denoising, enhancing and the like, and if the straight lines are detected to exist, solving an equation { L } of all the straight lines in the image under a visual camera coordinate system { C } through a camera internal reference homography matrix Hi}＝{H·si,1+t·(H·si,1-H·si,2) L t belongs to R }; wherein s isi,1And si,2Two end points of the detected ith straight line are detected, and t is a real parameter. If no straight line is detected, it indicates that the AGV is in a short motion process after the initialization is completed, and the IMU or the odometer is responsible for navigation positioning of the AGV.
X13: two straight lines { Lx } and { Ly } of a family of straight lines { M } { LX } { U } { LY } of grid lines in the grid map that are within the visual field of view of the visual camera and that are closest to the origin of its lens are determined from the IMU or odometer data.
The specific solving process is as follows:
the family of rectilinear lines { LX } of grid lines are parallel lines, determined by the following parameters: a point s on any one of the parallel lines; the direction vector v of the parallel lines; the distance w between parallel lines. If a vector perpendicular to the direction vector V is set to be V, a point s + n.w.V, which is an integral multiple of w from the point s and is perpendicular to V when connecting with the point s, is always located on a straight line in the parallel line family { LX }.
The distance of an arbitrary point p on the plane from the family of parallel lines { LX } can be expressed as: d ═ p-s · V/| p-s |, where the equal sign right side is the vector calculation.
Thus, the square of the distance d2Is a parabola with an upward opening and a quadratic curve of an integer n, and d can be obtained from the property that the parabola only has one vertex2And the corresponding integer n, to obtain a point s + n · w · V, where the straight line formed by this point and the direction vector V is the closest straight line to the point p in the family of straight lines { LX }. If the point p is the origin of the visual camera, the straight lines { Lx } and { Ly } closest to the origin of the camera in the straight line family { M } { LX } U { LY } of the map grid line can be solved.
X14: solving all the Linear equations LiThe slope theta under the visual camera lens coordinate system { C }iAnd intercept di(ii) a And the slope θ of the lines { Lx } and { Ly } in the visual camera lens coordinate system { C }, respectivelyx、θyAnd intercept dx、dy。
X15: according to a set threshold value thetatAnd dtDividing all the straight lines into two groups and debugging the error straight lines to obtain two groups of detection straight lines { Lx } corresponding to { Lx } and { Ly } respectivelyi1,2, …, m and { Ly |i|i＝1,2,…,n}，
Wherein L isi∈{Lxi}，if |θi-θx|≤θt∩|di-dx|≤dt
Li∈{Lyi}，if |θi-θy|≤θt∩|di-dy|≤dt。
X16: weighted sum s of slope difference and intercept difference for the straight line detected in each directioniAssigning a weight q to each linei：
si＝p×|θi-θx|+(1-p)×|di-dx|
Figure BDA0002134236820000081
X17: the straight lines detected in each direction are used as final detected straight lines { Lx _ d } and { Ly _ d } in the direction by taking the weighted average of the slope and the weighted average of the intercept as the final detected straight lines { Lx _ d } and { Ly _ d } in the direction.
X18: transform the relation from the same order
Figure BDA0002134236820000082
Calculating the observed value of the current position and attitude of the AGV determined by the vision camera
Figure BDA0002134236820000083
Wherein the content of the first and second substances,
Figure BDA0002134236820000084
ATCthe installation pose of the camera { C } on the vehicle body { A }.
The fusion of the AGV pose data observed by the vision camera and the IMU or odometer data through the Kalman filtering algorithm comprises the following steps:
x21: using IMU or odometer data as state quantity X, X ═ X, y, alpha]T。
X22: first order newtonian kinematics as equation of state: xk＝Xk-1+Vk·ΔT+ωkWherein V iskFor the AGV speed of the k-th cycle, Δ T is the cycle duration, ωkIs process noise with covariance matrix of Q, initial state X0And detecting the two-dimensional code to obtain the code.
X23: establishing an observation equation (the process of shooting ground images by a visual camera and solving AGV pose data is the observation of state quantity): zk＝Xk+υkWherein, in the step (A),
Figure BDA0002134236820000085
υkfor observation noise, its covariance matrix is R; the above steps describe the data fusion problem in the State space in the form of a State-space Model (State-space Model).
X24: and predicting the state at the next moment by using a state equation, namely predicting in one step:
Figure BDA0002134236820000086
Figure BDA0002134236820000087
wherein the content of the first and second substances,
Figure BDA0002134236820000088
is a one-step prediction result
Figure BDA0002134236820000089
The covariance matrix of (1) describes
Figure BDA00021342368200000810
Of the error distribution of (2), its initial value P0Given by empirical values.
X25: then, correcting the predicted value of the system state by using the observed value of the system state by using a sensor, namely updating the state:
Figure BDA0002134236820000091
Figure BDA0002134236820000092
wherein, KgIn order to be the basis of the kalman gain,
Figure BDA0002134236820000093
the method comprises the steps that a visual camera is installed inside an AGV body and shoots the ground downwards, and ground image information such as two-dimensional codes, floors and tiles is collected; the control device processes the two-dimensional code information to obtain an initial pose of the AGV; in the interval time of the visual camera collecting the ground information twice, the IMU or the odometer is responsible for processing the short-time local navigation positioning of the AGV; and after the visual camera acquires effective ground information, the control device integrates vision and IMU or odometry data through a Kalman filtering algorithm to correct positioning errors, and the integrated navigation positioning is completed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.

Claims (7)

1. A trajectory tracking control method of an AGV system is based on the AGV system with at least 2 eccentric steering wheel devices and is characterized by comprising the following steps:
step A, establishing an AGV body coordinate system { A } fixedly connected with the AGV body by taking the advancing direction of the AGV body as an X axis and an appointed arbitrary reference point A as an origin when steering shafts in all eccentric steering wheel devices are positioned at zero positions, and calculating the center O of each steering shaftiCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]And the eccentricity value b of the driving wheeli(ii) a Step B, establishing a ground rectangular coordinate system { W } under an AGV system application scene and giving the AGV body pose [ x, y, alpha ] by an upper-layer planner]Motion trajectory { Path } under the ground rectangular coordinate system { W }:
Figure FDA0003374573590000011
wherein t is time;
step C, calculating the track tracking deviation and the corrected motion instruction at any time after the AGV system starts to move, and solving the steering angle of each eccentric steering wheel of the AGV according to the corrected motion instructionAβi,rAnd a forward speed vi,rControlling an eccentric steering wheel device to drive an AGV system to move according to the steering angle and the advancing speed obtained through solving;
the step C of calculating the trajectory tracking deviation and the corrected motion command comprises the following steps:
S1：calculating the trajectory tracking deviation xe,ye,αe]：
Figure FDA0003374573590000012
In the formula, [ x ]t,yt,αt]For the object pose, [ x ] given by the motion trajectory { Path }a,ya,αa]The actual pose of the AGV body at the current moment,Aβathe steering angle of the AGV body at the current moment;
s2: calculating a corrected motion command:
the motion instructions comprise position translation speed instructions
Figure FDA0003374573590000013
And attitude rotational speed command vα,r，
Wherein the content of the first and second substances,
Figure FDA0003374573590000014
in the formula, the first step is that,
Figure FDA0003374573590000021
is the position translation velocity vector, v, given by the motion trajectory { Path }α,tIs the attitude rotation speed, vα,aIs the actual attitude rotation speed of the AGV body at the current time, [ x ]e,ye,αe]Is the track following deviation, lambda,
Figure FDA0003374573590000022
And p is a feedback control rate parameter,
Figure FDA0003374573590000023
Figure FDA0003374573590000024
k1and k2Is a gain factorAn empirical value;
and C, solving the steering angle of each eccentric steering wheel of the AGV according to the corrected motion instructionAβi,rAnd a forward speed vi,rThe method comprises the following steps:
p1: solving instant center O ═ x of rigid motionO,yO]T：
Figure FDA0003374573590000025
In the formula, the first step is that,
Figure FDA0003374573590000026
position translation velocity, v, for the operation property of plane rigid bodiesα,rIn order to determine the posture rotation speed,
Figure FDA0003374573590000027
is a plane vector pointing from the instant center of motion O to the AGV body reference point a:
Figure FDA0003374573590000028
wherein'×' denotes a vector cross product;
p2: the center O of the steering shaftiCoordinate value [ A ] in AGV body coordinate system [ A ]Axi,Ayi]Converting to [ x ] under ground rectangular coordinate system [ W ]i,yi]Then calculating the steering center O of the eccentric steering wheeliVelocity vector of translation of
Figure FDA0003374573590000029
Figure FDA00033745735900000210
Wherein'×' denotes a vector cross product;
Figure FDA00033745735900000211
to point from the instant center of motion O to the steering shaft center OiThe plane vector of (a) is,
Figure FDA00033745735900000212
p3: calculating the steering angle of an eccentric steering wheelAβi,rAnd the forward speed v of the eccentric steering wheeli,r，
Figure FDA00033745735900000213
Figure FDA00033745735900000214
2. The AGV system trajectory tracking control method according to claim 1, wherein a visual camera and an IMU or a visual camera and a odometer are provided at the bottom of the AGV system, the AGV system implements a combined navigation positioning by means of the visual camera and the IMU or the visual camera and the odometer, the combined navigation positioning includes the following steps:
step U: dividing a ground rectangular coordinate system (W) into a preparation area and a working area, and pasting a two-dimensional code identifier with pose information in the preparation area;
step V, setting a configuration file: inputting the size information and the two-dimensional code position and posture information of the regular reference object into a configuration file of a control device of the AGV, and automatically generating a grid map by the AGV control device according to the configuration file;
step W, AGV initializes: after the AGV is electrified, the AGV is manually controlled to pass through the two-dimensional code identification, the vision camera scans the two-dimensional code identification and obtains the absolute position of the AGV in a ground plane rectangular coordinate system through calculation of the control device to complete initialization of the AGV;
step X, integrated navigation and positioning: in the movement process of the AGV after initialization is completed, the visual camera collects reference object information, the control device solves the AGV position data of the current time by using the collected reference object information through a plane geometric relation, and the obtained AGV position data and IMU or odometer data are fused through a Kalman filtering algorithm to complete combined navigation positioning.
3. The AGV system trajectory tracking control method according to claim 2, wherein the step X of the control device using the plane geometry to solve the AGV pose data using the collected reference information includes the steps of:
x11: reading a ground image acquired by a visual camera;
x12: detecting straight lines in the image after graying, denoising, enhancing and the like, and if the straight lines are detected to exist, solving an equation { L } of all the straight lines in the image under a visual camera coordinate system { C } through a camera internal reference homography matrix Hi}；
X13: determining two straight lines { Lx } and { Ly } in a family of straight lines { M } { LX } - { LX }. U { LY } of grid lines in the grid map that are within the visual field of view of the visual camera and that are closest to the origin of the lens thereof, from the IMU or odometer data;
x14: solving all the Linear equations LiThe slope theta under the visual camera lens coordinate system { C }iAnd intercept diAnd the slope θ of the lines { Lx } and { Ly } in the visual camera lens coordinate system { C }, respectivelyx、θyAnd intercept dx、dy；
X15: according to a set threshold value thetatAnd dtDividing all the straight lines into two groups and debugging the error straight lines to obtain two groups of detection straight lines { Lx } corresponding to { Lx } and { Ly } respectivelyi1,2, …, m and { Ly |i|i＝1,2,…,n}，
Wherein L isi∈{Lxi}，if|θi-θx|≤θt∩|di-dx|≤dt
Li∈{Lyi}，if|θi-θy|≤θt∩|di-dy|≤dt；
X16: weighted sum s of slope difference and intercept difference for the straight line detected in each directioniAssigning a weight q to each linei：
si＝p×|θi-θx|+(1-p)×|di-dx|
Figure FDA0003374573590000041
X17: regarding the straight lines detected in each direction, taking the weighted average value of the slope and the weighted average value of the intercept as the final detected straight lines { Lx _ d } and { Ly _ d } in the direction;
x18: transform the relation from the same order
Figure FDA0003374573590000042
And calculating the observed value of the current position and posture of the AGV, wherein,
Figure FDA0003374573590000043
ATCthe installation pose of the camera { C } on the vehicle body { A }.
4. The AGV system trajectory tracking control method according to claim 3,
in the step X, fusing the obtained AGV pose data and IMU or odometer data by the control device through a Kalman filtering algorithm, and comprising the following steps of:
x21: IMU or odometer data as state quantity X: x ═ X, y, α]T；
X22: first order newtonian kinematics as equation of state: xk＝Xk-1+Vk·ΔT+ωkWherein V iskFor the AGV speed of the k-th cycle, Δ T is the cycle duration, ωkIs process noise with covariance matrix of Q, initial state X0The two-dimensional code is detected and given;
x23: establishing an observation equation: zk＝Xk+υkWherein, in the step (A),
Figure FDA0003374573590000051
υkfor observation noise, its covariance matrix is R; the data fusion problem is described in a State space in the form of a State-space Model (State-space Model);
x24 one-step prediction:
Figure FDA0003374573590000052
Figure FDA0003374573590000053
wherein the content of the first and second substances,
Figure FDA0003374573590000054
is a one-step prediction result
Figure FDA0003374573590000055
The covariance matrix of (1) describes
Figure FDA0003374573590000056
Of the error distribution of (2), its initial value P0Given by empirical values;
x25: and (3) updating the state:
Figure FDA0003374573590000057
Figure FDA0003374573590000058
wherein, KgIn order to be the basis of the kalman gain,
Figure FDA0003374573590000059
5. the AGV system trajectory tracking control method according to claim 1, wherein the AGV system includes an AGV body, at least 2 eccentric steering wheel devices for driving the AGV body to move are provided on the AGV body, and each eccentric steering wheel device includes a steering wheel assembly and a steering driving assembly for driving the steering wheel assembly to eccentrically rotate.
6. The AGV system trajectory tracking control method according to claim 5, wherein the steering wheel assembly comprises a connection bracket (1), a travel driving motor (2) fixed to the connection bracket (1), and a steering wheel (3) connected to an output shaft of the travel driving motor (2),
the steering driving component comprises a steering driving motor (4) fixed on the AGV body, a steering shaft (5) and a chain transmission component (6) arranged between an output shaft of the steering driving motor (4) and the steering shaft (5),
the steering shaft (5) is connected with the connecting bracket (1) and is positioned on one side of the steering wheel (3).
7. The AGV system trajectory tracking control method according to claim 5, wherein the AGV system includes a control device associated with the eccentric steering wheel device, and the control device includes:
the trajectory tracking control device module is used for solving the pose deviation and the corrected motion instruction according to the trajectory instruction of the upper-layer planner and the parameters such as the current pose of the AGV;
and the pose decoupling kinematics module is used for solving the steering angle and the advancing speed of each eccentric rudder wheel of the AGV according to the corrected motion instruction, so that the AGV can randomly rotate the posture of the vehicle body while advancing along the appointed track.
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