AU2021448614A1 - Precise stopping system and method for multi-axis flatbed vehicle - Google Patents
Precise stopping system and method for multi-axis flatbed vehicle Download PDFInfo
- Publication number
- AU2021448614A1 AU2021448614A1 AU2021448614A AU2021448614A AU2021448614A1 AU 2021448614 A1 AU2021448614 A1 AU 2021448614A1 AU 2021448614 A AU2021448614 A AU 2021448614A AU 2021448614 A AU2021448614 A AU 2021448614A AU 2021448614 A1 AU2021448614 A1 AU 2021448614A1
- Authority
- AU
- Australia
- Prior art keywords
- axis
- flatbed vehicle
- flatbed
- module
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000016776 visual perception Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 9
- 230000010365 information processing Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000013178 mathematical model Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A precise stopping system and method for a multi-axis flatbed vehicle, the system comprising: a starting module, which is used for starting a multi-axis flatbed vehicle, and loading and reading a global map containing coordinate information; a path acquisition module, which determines a movement path of the multi-axis flatbed vehicle according to an initial point and a stop point of the multi-axis flatbed vehicle, and generates a trajectory; a driving module, which is used for controlling the multi-axis flatbed vehicle to travel according to the trajectory generated by the path acquisition module; a trajectory tracking control module, which locates and adjusts, in real time, an actual position of the multi-axis flatbed vehicle when same travels; a visual perception module, which identifies an infrared road sign installed at the stop point, and transmits the identified information to an embedded upper computer; and the embedded upper computer, which completes, according to the information identified by the visual perception module, the location of the multi-axis flatbed vehicle and trajectory planning during a precise stop, and controls the driving module of the multi-axis flatbed vehicle to complete a precise stop.
Description
The present disclosure relates to the field of path planning and locating for mobile robots, in particular to a precise stopping system and method for a multi-axis flatbed vehicle based on an infrared road sign.
With the development of the field of intelligent manufacturing, multi-axis flatbed vehicles are widely used in various large-scale engineering transportation environments. They are the main equipment for shipyards to transport segmented hulls, and are also suitable for the transportation of oversized concrete prefabricated parts in steel mills and highways. Moreover, the multi-axis flatbed vehicles require frequent stopping actions, and the precision of stopping has an extremely important impact on the completion of tasks. Currently, there are many different solutions for completing the stopping task of a multi axis flatbed vehicle, and each solution has some shortcomings. Some solutions require the laying of magnetic strips on the road surface in advance, and guidance is achieved through magnetic strip sensing signals. However, the magnetic strips are prone to being damaged and path changes require the laying of magnetic strips again. In some solutions, auxiliary equipment such as sensors needs to be installed near the stop point, but due to the reasons of the sensors themselves, the multi-axis flatbed vehicle cannot achieve precise stopping. In this solution, path planning is used to make the shortest path for the multi-axis flatbed vehicle to reach near the stop point, and an infrared road sign is installed near the stop point to achieve the locating of the multi-axis flatbed vehicle near the stop point, further achieving precise stopping of the multi-axis flatbed vehicle.
The purpose of the present disclosure is to solve the problems existing in the prior art and provide a method for precise stopping of a multi-axis flatbed vehicle based on the infrared road sign. The present disclosure adopts the following technical solutions:
In a first aspect, the present disclosure provides a precise stopping system for a multi-axis flatbed vehicle, including an onboard device and an infrared road sign. The infrared road sign is installed at a stop point, and the onboard device includes a starting module, a path acquisition module, a driving module, a steering module, a trajectory tracking control module, a visual perception module, and an embedded upper computer; the starting module, which is used for starting the multi-axis flatbed vehicle, and loading and reading a global map containing coordinate information; the path acquisition module, which determines a movement path of the multi-axis flatbed vehicle according to an initial point and a stop point of the multi-axis flatbed vehicle; the driving module, which is used for controlling the multi-axis flatbed vehicle to drive according to the trajectory generated by the path acquisition module; and the steering module, which is used for determining a steering mode by collecting path information, analyzing the expected steering angle of each wheel train according to a multi axis flatbed vehicle steering kinematics model established by the embedded upper computer, receiving the latest actual steering angle of a wheel train through a CAN bus, then obtaining the control output of each loop by the closed-loop control, and sending corresponding output instructions to each node, so as to control each wheel train to achieve the expected steering angle, ensuring that in the steering process, each combination wheel rotates at a predetermined angle and maintains coordination and consistency between each combination wheel, where the multi-axis flatbed vehicle includes various steering modes during driving, such as splay steering, conventional steering, and center rotation; the trajectory tracking control module, which locates, in real time, the actual position of the multi-axis flatbed vehicle when traveling, and when the deviation between the actual position and a target position exceeds a set threshold, the trajectory tracking control module adjusts the posture of the flatbed vehicle to gradually return to a target path; the visual perception module, which is installed in the front of the multi-axis flatbed vehicle body, identifies the infrared road sign installed at the stop point, and transmits the identified information to the embedded upper computer; and the embedded upper computer is used for loading the steering kinematics model of the whole vehicle wheel train, completing the locating of the multi-axis flatbed vehicle and planning the trajectory during the precise stopping according to the information identified by the visual perception module, and controlling the driving module of the multi-axis flatbed vehicle to complete a precise stopping. Preferably, the visual perception module includes a camera and an image information processing card. The camera is used for collecting environmental information in front of the multi-axis flatbed vehicle, and the camera is installed below the front of the multi-axis flatbed vehicle body, and a filter is installed to accurately recognize infrared light. The image information processing card is used for receiving environmental information transmitted by the camera, identifying the infrared road sign information in front of the stop point parking space through the environmental information captured by the camera, and transmitting the information to the embedded upper computer. In a second aspect, the present disclosure also provides a method for precise stopping of a multi-axis flatbed vehicle based on an infrared road sign, including: Step 1: obtaining a global map, an initial point and a stop point, and adding the initial point and the stop point to the global map; Step 2: planning the shortest path required from the initial point to the stop point; Step 3: driving along the shortest path and obtaining current locating information in real time; and Step 4: when reaching near the stop point, performing deceleration and recognition of the infrared road sign, then completing the adjustment of the multi-axis flatbed vehicle body, and achieving the stopping to the target point according to the relative posture of the multi-axis flatbed vehicle and the infrared road sign calculated by an upper computer based on the image information of the infrared road sign. The beneficial effects of the present disclosure are as following: The present disclosure achieves the precise stopping task for the multi-axis flatbed vehicle by trajectory planning and autonomous locating for the multi-axis flatbed vehicle, as well as the recognition of the infrared road sign, and has high stopping precision. By trajectory planning and motion modeling of the multi-axis flatbed vehicle, the stopping of the multi-axis flatbed vehicle is smoother and the stopping precision is improved.
FIG. 1 is a diagram of a system structure; FIG. 2 is an overall flowchart; FIG. 3 is a diagram of the control principle of a steering module; FIG. 4(a) is a diagram of a splay steering kinematics model of a multi-axis flatbed vehicle; FIG. 4(b) is a diagram of a conventional kinematics model of a multi-axis flatbed vehicle; FIG. 4(c) is a diagram of a center turning kinematics model of a multi-axis flatbed vehicle;
FIG. 5 is a flowchart of precise stopping based on a visual perception module; FIG. 6 is a flowchart of motion control of a multi-axis flatbed vehicle; and FIG. 7 is a schematic diagram of the precise stopping motion trajectory of a multi-axis flatbed vehicle.
The present disclosure is further described with reference to drawings and specific implementation modes below, in order to better understand the present disclosure. As shown in FIG. 1, the present disclosure provides a precise stopping system for a multi axis flatbed vehicle, including an onboard device and an infrared road sign. The infrared road sign is installed at a stop point. The onboard device includes a starting module, a path acquisition module, a driving module, a steering module, a trajectory tracking control module and a visual perception module; the above starting module, which is used for starting the multi-axis flatbed vehicle, loading and reading a global map containing coordinate information; the above path acquisition module, which determines a movement path of the multi-axis flatbed vehicle according to an initial point and the stop point of the multi-axis flatbed vehicle; the above driving module, which is used for controlling the multi-axis flatbed vehicle to drive according to the trajectory generated by the path acquisition module; and the above steering module, which is used for determining the steering mode by collecting path information, analyzing the expected steering angle of each wheel train according to a multi-axis flatbed vehicle steering kinematics model established by an embedded upper computer, receiving the latest actual steering angle of the wheel train through the CAN bus, then obtaining the control output of each loop by using closed-loop control, and sending corresponding output instructions to each node, so as to control each wheel train to achieve the expected steering angle, and ensure that in the steering process, each combination wheel rotates at a predetermined angle and maintains coordination and consistency between each combination wheel, where the multi-axis flatbed vehicle includes various steering modes during driving, such as splay steering, conventional steering, and center rotation; the above trajectory tracking control module locates, in real time, the actual position of the multi-axis flatbed vehicle when traveling, and when the deviation between the actual position and a target position exceeds a set threshold, the trajectory tracking control module adjusts the posture of the flatbed vehicle to gradually return to a target path; the above visual perception module is installed in the front of the multi-axis flatbed vehicle body, identifies the infrared road sign installed at the stop point, and transmits the identified information to an embedded upper computer; and the above embedded upper computer is used for loading a steering kinematics model of the vehicle wheel train, completing, according to the information identified by the visual perception module, the locating of the multi-axis flatbed vehicle and trajectory planning during precise stopping, and controlling the driving module of the multi-axis flatbed vehicle to complete precise stopping. In the present disclosure, first, the starting module starts the multi-axis flatbed vehicle, loads and reads a global map containing coordinate information, and determines a movement path of the multi-axis flatbed vehicle according to the initial point and the stop point of the multi-axis flatbed vehicle, the drive module controls the multi-axis flatbed vehicle to drive according to the trajectory generated by the path acquisition module, in the driving process, the steering module collects the path information to determine the steering mode, analyzes the expected steering angle of each wheel train according to the multi-axis flatbed vehicle steering kinematics model established by the embedded upper computer, receives the latest actual steering angle of the wheel train through the CAN bus, then obtains the control output of each loop by using closed-loop control, and sends corresponding output instructions to each node, so as to control each wheel train to achieve the expected steering angle, then the trajectory tracking control module locates, in real time, the actual position of the multi-axis flatbed vehicle by, and when the deviation between the actual position and the target position exceeds a set threshold, the trajectory tracking control module adjusts the posture of the flatbed vehicle to gradually return to the target path. The infrared road sign is installed in front of the stop point parking space, and the visual perception module is installed in the front of the multi-axis flatbed vehicle body. When the multi-axis flatbed vehicle moves near the stop point, the multi-axis flatbed vehicle decelerates and searches for the infrared road sign by the visual perception module by rotating in place. After finding out the infrared road sign, the image position information of the infrared road sign is calculated, and the identified information is transmitted to the embedded upper computer of multi-axis flatbed vehicle. The embedded upper computer of the multi-axis flatbed vehicle calculates the relative posture of the multi-axis flatbed vehicle and the infrared road sign, and realizes the motion planning of the multi-axis flatbed vehicle, and then the driving module controls the multi-axis flatbed vehicle to achieve precise stopping. Preferably, the visual perception module includes a camera and an image information processing card. The camera is used for collecting environmental information in front of the multi-axis flatbed vehicle. The camera is installed below the front of the multi-axis flatbed vehicle body. A filter is installed to accurately recognize infrared light. The image information processing card is used for receiving environmental information transmitted by the camera and further processing the image information. Preferably, the shape of the infrared road sign is an isosceles right triangle. The side length on both sides is 50 cm. The three vertices of the infrared road sign are installed with infrared light-emitting diodes. As shown in FIGs. 2, 3, and 5, a method for precise stopping of a multi-axis flatbed vehicle has the specific implementation steps as follows: Step 1.1: The multi-axis flatbed vehicle is started by a starting module. Global information of a job is determined. The scene of the job is rasterized to obtain a global grid map. Step 1.2: Initial locating information of the multi-axis flatbed vehicle (XO, YO, 00) in the global map coordinate system as well as a target stop point information are obtained,, and stored in a database. Step 2.1: In the global grid map of step 1.1, the shortest path from an initial position to near the target stop point are calculated by a path acquisition module using the shortest path algorithm. In this example, the A* algorithm is used as the shortest path algorithm. The specific implementation process of this algorithm is as follows: The A* algorithm combines heuristic search with breadth first algorithm, and is the most effective direct search algorithm for solving the optimal path in static environments. The A* algorithm selects the search direction to expand from the starting point to the surrounding area using a cost function F(n), and calculates the cost value of each surrounding node using the heuristic function H(n), and the minimum generation value is selected as the next extension point. This process is repeated until the ending point is reached, generating a path from the starting point to the ending point. In the search process, as each node on the path is a node with the minimum cost, the resulting path cost is minimal. The cost function of the A* algorithm is: F(n)= G(n)+H(n)
H (n) = V((xi - x.)z - (y, - y. 2 )
where, F(n) is the evaluation function of the current node, G(n) is the actual path cost from the starting point to the current node, and H(n) is the minimum estimated cost from the current node to the target point. The abscissa of the starting point is xi, the ordinate of the starting point is yi, the abscissa of the ending point ordinate is x,, and the ordinate of the ending point ordinate isyn. Step 3.1: Under the control of the driving module, the multi-axis flatbed vehicle travels following the shortest path planned of step 2. In the steering process, the steering module determines the steering mode by collecting path information, calculates the expected steering angle of each wheel train according to the multi-axis flatbed vehicle steering mathematical model established by the embedded upper computer, receives the latest actual steering angle of the wheel train through the CAN bus, then obtains the control output of each loop by using closed-loop control, and sends corresponding output instructions to each node, so as to control each wheel train to achieve the expected steering angle. In the diagram of the multi-axis flatbed vehicle steering kinematics model, taking the splay steering of the multi-axis flatbed vehicle as an example, the vertical line of each wheel intersects the steering centerline at the point P, which is recorded as the steering point of the multi-axis flatbed vehicle. When turning, the steering angle of each wheel on the right side is at, the steering angle of each wheel on the left side is fi, and the distance from the turning point P to the centerline of the flatbed vehicle is R. The distance between each axle in the two groups of axles 1, 2, 3, and 4, 5, 6 is equal, and is set as S 1 . The distance between the two axles 3 and 4 is S2. The right turning of the multi-axis flatbed vehicle is taken as an example, and a mathematical model of the deflection angle is established: When i=1, 2, and 3 axles
S+ 3S1 tana1 = 2 S
+ 3S1 tanfi1 2 1
So there is
+ (3 - i)S tana1 =
+ (3 - i)S1 tanpi = R+ When i=4, 5, and 6 axles C7i= -a 1 i
pl7 -1 = -p1i When in closed-loop control, the embedded upper computer calculates the steering target value 00 of each wheel group through the multi-axis flatbed vehicle steering mathematical model. Then the computer compares the value with the actual steering deflection angle Qt from the angular displacement sensors of each wheel group to calculate the steering angle deviation F. The value is regarded as an output signal to the proportional amplifier to obtain the current signal I, which is used for controlling the electro-hydraulic proportional valve. The change in the opening of the electro-hydraulic proportional valve is then converted into a flow Q output, which controls the movement of the hydraulic cylinder and achieves the turning of each wheel to the target value 00, thereby achieving collaborative work between each wheel group. Step 3.2: A trajectory tracking control module obtains real time location information of the multi-axis flatbed vehicle. When the deviation between an actual position and the target position exceeds a threshold, the trajectory tracking control module adjusts the posture of the flatbed vehicle to gradually return to a target path. In this example, the trajectory tracking control module uses the dead reckoning algorithm to achieve real time locating of the multi-axis flatbed vehicle. The specific implementation process of this algorithm is as follows: The basic idea of the dead reckoning is to use a point on the Earth's surface as the origin of the local coordinate system, and calculate the relative position of the moving object at the next moment based on the current change in velocity direction and velocity magnitude. By repeating this process continuously, the motion trajectory of the moving object can be calculated. ti is assumed. The moving object is located at a known point Pi(xi, yi). O indicates the heading of the moving object at the point Pi at time ti. (Where 0 ; i ;> n) xit1 = xi + dicos 1 yi+1 = yi + disin 1 From this, it can be inferred that if the position Po(xo, yo) of the moving object at time to and the magnitude and direction of the velocity at any time after the time to are known.
The position Pi(xi,y) of the moving object at any time ti after the time to can be calculated. Step 4.1: The environmental information in front of the multi-axis flatbed vehicle is collected through the visual perception module. Image information is processed to obtain the position information of the infrared road sign in the image. Step 4.2: The position information of the infrared road sign in the image is sent to the embedded upper computer. The computer calculates the relative posture of the multi-axis flatbed vehicle and the infrared road sign through point perspective analysis method. The steps for calculating the posture of the multi-axis flatbed vehicle relative to the infrared road sign are as follows: Step SI: A world coordinate system is created on the infrared road signs. The position information of the infrared road signs in this coordinate system is obtained through measurement. The camera is fixed on the front of the multi-axis flatbed vehicle body. The internal parameters of the camera are calibrated. The internal parameter matrix of the camera is: fu Y u0 A = 0 f£ vo 0 0 1 fu and f are the focal length in the u and v directions respectively. Y is the deviation parameter between two coordinate axes of the image. uo and vo are the image coordinates of a main point. Step S2: The external parameters of the camera are calculated using the perspective n point problem (PnP) analysis method. The external parameter matrix of the camera is:
c = R cp W 0 1 R is the rotation matrix of the world coordinate relative to the camera coordinate. cp is the translation matrix of the world coordinate origin and the camera coordinate origin. Step S3: The transformation matrix between the multi-axis flatbed vehicle coordinate system and the camera coordinate system is calibrated. Then the posture of the multi-axis flatbed vehicle in the world coordinate system is calculated based on the internal and external parameters of the camera. Step 4.3: Based on the path planning during precise stopping, a driving module controls the movement of the multi-axis flatbed vehicle, and uses closed-loop control algorithms to achieve precise stopping. As shown in FIGs. 6 and 7, a method for precise stopping of a multi-axis flatbed vehicle has the specific process as follows: Step Al: The length of the multi-axis flatbed vehicle body is assumed as L1 . The width of the multi-axis flatbed vehicle body is assumed as L 2 . The initial coordinate of point A is 0 (XA YA A)T The coordinate of point B can be calculated through geometric relationships. The coordinate of point B is: L XB X -YA +2 XB= XA tanOA yB
Assuming that at time t, the coordinate of the multi-axis flatbed vehicle is (xt yt Ot)T , the closed-loop system feedback error can be calculated.
The closed-loop system feedback error is: ex = xt - XB
ey = Yt - YB
et = 8t - tan 1 YBYt XB - t
Based on the closed-loop feedback error e= (ex ey et) T , the multi-axis flatbed vehicle moves from A to B through closed-loop controlled by a driving module. In this process, the multi-axis flatbed vehicle gradually approaches the stop parking space. Step A2: After reaching point B, the multi-axis flatbed vehicle body is adjusted to maintain its posture (xB YB B )T
0 B is: 1 B - YD B= tan XB - XD
Step A3: A multi-axis flatbed vehicle is simulated whose initial position is at point C. The virtual multi-axis flatbed vehicle drives at a constant speed along a straight line CD towards point D. The position information of the multi-axis flatbed vehicle at each moment is collected and calculated. The feedback error with the current multi-axis flatbed vehicle posture information is calculated using the posture information of the virtual multi-axis flatbed vehicle. The smooth movement of the flatbed vehicle towards point D is controlled by the driving module, gradually reducing the feedback error in the direction Xw.
Step A4: After the multi-axis flatbed vehicle moves to point D, the visual perception module recognizes the infrared road signs again to obtain the current position information of the multi-axis flatbed vehicle, in order to eliminate the accumulated error for real time locating using dead reckoning. The foregoing descriptions are merely preferred examples of the present disclosure, but are not intended to limit the present disclosure. A person skilled in the art may make various alterations and variations to the present disclosure. Any modification, equivalent replacement, or improvement made and the like within the spirit and principle of the present disclosure shall fall within the protection scope of the present disclosure.
Claims (9)
1. A precise stopping system for a multi-axis flatbed vehicle, comprising an onboard device and an infrared road sign, the infrared road sign being installed at a stop point, the onboard device comprising a starting module which is used for starting the multi-axis flatbed vehicle, and loading and reading a global map containing coordinate information; a path planning module which determines a movement path of the multi-axis flatbed vehicle according to an initial point and the stop point of the multi-axis flatbed vehicle; a driving module which is used for controlling the multi-axis flatbed vehicle to travel according to a trajectory generated by the path acquisition module; a trajectory tracking control module which locates and adjusts, in real time, an actual position of the multi-axis flatbed vehicle when the multi-axis flatbed vehicle is traveling; a visual perception module, which identifies the infrared road sign installed at the stop point and transmits the identified information to an embedded upper computer; the embedded upper computer, which is used for loading a steering kinematics model of a vehicle wheel train, and completes, according to the information identified by the visual perception module, the locating of the multi-axis flatbed vehicle and trajectory planning during a precise stop, and controls the driving module of the multi-axis flatbed vehicle to complete a precise stop.
2. The precise stopping system for a multi-axis flatbed vehicle according to claim 1, wherein the onboard device further comprises a steering module, which is used for determining the steering mode by collecting a path information, analyzing an expected steering angle of each wheel train according to the steering kinematics model of the multi-axis flatbed vehicle established by the embedded upper computer, receiving the latest actual steering angle of the wheel train through a bus, then obtaining a control output of each loop by using closed-loop control, and sending corresponding output instructions to each node.
3. The precise stopping system for a multi-axis flatbed vehicle according to claim 1, wherein the visual perception module comprises a camera and an image information processing device, the camera is used for collecting environmental information in front of the multi-axis flatbed vehicle, and the camera is installed below the front of the multi-axis flatbed vehicle body, and a filter is installed to accurately recognize infrared light; the image information processing device is used for receiving environmental information transmitted by the camera, identifying infrared road sign information in front of the stop point parking space through the environmental information captured by the camera, and transmitting the information to the embedded upper computer.
4. A method for precise stopping of a multi-axis flatbed vehicle comprising: Step 1: obtaining a global map, an initial point and a stop point, and adding the initial point and the stop point to the global map; Step 2: planning the shortest path required from the initial point to the stop point; Step 3: driving along the shortest path and obtaining current locating information in real time; and Step 4: when reaching near the stop point, performing deceleration and recognition of the infrared road sign, then completing the adjustment of the multi-axis flatbed vehicle body, and achieving the stopping to the target point according to the relative posture of the multi-axis flatbed vehicle and the infrared road sign calculated by an upper computer based on the image information of the infrared road sign.
5. The method for precise stopping of a multi-axis flatbed vehicle according to claim 4, wherein in step 1, the global map is rasterized to obtain a global grid map, and initial locating information and the target stop point information of the multi-axis flatbed vehicle are obtained in the global grid map, and stored in a database.
6. The method for precise stopping of a multi-axis flatbed vehicle according to claim 5, in step 2, wherein in the global grid map, a path acquisition module calculates the shortest path from the initial position to near the target stop point by using a shortest path algorithm.
7. The method for precise stopping of a multi-axis flatbed vehicle according to claim 4, wherein in step 3, under control of a driving module, the multi-axis flatbed vehicle drives following the shortest path planned in step 2, and during steering process, a steering module determines a steering mode by collecting path information, calculates an expected steering angle of each wheel according to a multi-axis flatbed vehicle steering mathematical model established by the embedded upper computer, receives a latest actual steering angle of the wheel train through a bus, and then obtains control output of each loop by using closed-loop control, and sends corresponding output instructions to each node, so as to control each wheel train to achieve an expected steering angle.
8. The precise stopping system for a multi-axis flatbed vehicle according to claim 4, wherein in step 3, a trajectory tracking control module obtains, in real time, locating information of the multi-axis flatbed vehicle, and when a deviation between an actual position and a target position exceeds a threshold, the trajectory tracking control module adjusts posture of the flatbed vehicle to gradually return to the target path.
9. The method for precise stopping of a multi-axis flatbed vehicle according to claim 4, wherein in step 3, the calculating method for the posture of the multi-axis flatbed vehicle relative to the infrared road sign is as follows: step SI: creating a world coordinate system on the infrared road sign, obtaining location information of the infrared road sign in the coordinate system through measurement, fixing a camera on the front of the multi-axis flatbed vehicle body, and calibrating internal parameters of the camera; step S2: calculating external parameters of the camera by using a perspective n-point problem analysis method; and step S3: calibrating a transformation matrix between the coordinate system of the multi-axis flatbed vehicle and the coordinate system of the camera, and then calculate the posture of the multi-axis flatbed vehicle in the world coordinate system based on the internal parameters and the external parameters of the camera.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110608144.5 | 2021-06-01 | ||
| CN202110608144.5A CN113341968A (en) | 2021-06-01 | 2021-06-01 | Accurate parking system and method for multi-axis flat car |
| PCT/CN2021/098375 WO2022252220A1 (en) | 2021-06-01 | 2021-06-04 | Precise stopping system and method for multi-axis flatbed vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2021448614A1 true AU2021448614A1 (en) | 2023-06-15 |
Family
ID=77474070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2021448614A Pending AU2021448614A1 (en) | 2021-06-01 | 2021-06-04 | Precise stopping system and method for multi-axis flatbed vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN113341968A (en) |
| AU (1) | AU2021448614A1 (en) |
| WO (1) | WO2022252220A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633801B (en) * | 2022-04-22 | 2023-07-21 | 武汉科技大学 | Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104382710B (en) * | 2014-11-24 | 2017-02-22 | 中国科学院自动化研究所 | Automatic bed and wheelchair butt joint method for intelligent wheelchair and bed system |
| CN205375187U (en) * | 2015-12-15 | 2016-07-06 | 北京智行者科技有限公司 | Trolley -bus based on multiaxis trolley bus tracking tracker and have it |
| CN106681320A (en) * | 2016-12-15 | 2017-05-17 | 浙江大学 | Mobile robot navigation control method based on laser data |
| CN107422730A (en) * | 2017-06-09 | 2017-12-01 | 武汉市众向科技有限公司 | The AGV transportation systems of view-based access control model guiding and its driving control method |
| CN107450540B (en) * | 2017-08-04 | 2018-10-30 | 山东大学 | Indoor mobile robot navigation system and method based on infrared road sign |
| CN108388244A (en) * | 2018-01-16 | 2018-08-10 | 上海交通大学 | Mobile-robot system, parking scheme based on artificial landmark and storage medium |
| US20220161853A1 (en) * | 2019-04-12 | 2022-05-26 | Continental Automotive Systems, Inc. | Autonomous Truck-Trailer Maneuvering and Parking |
| CN110673610A (en) * | 2019-10-11 | 2020-01-10 | 天津工业大学 | ROS-based factory AGV path planning method |
| CN111596657B (en) * | 2020-05-09 | 2023-07-18 | 浙江工业大学 | AGV and track motion method thereof |
| CN111976718B (en) * | 2020-07-13 | 2022-03-01 | 浙江华锐捷技术有限公司 | Automatic parking control method and system |
| CN111986506B (en) * | 2020-07-20 | 2022-04-01 | 苏州易航远智智能科技有限公司 | Mechanical parking space parking method based on multi-vision system |
| CN112506195B (en) * | 2020-12-02 | 2021-10-29 | 吉林大学 | Vehicle autonomous positioning system and positioning method based on vision and chassis information |
-
2021
- 2021-06-01 CN CN202110608144.5A patent/CN113341968A/en active Pending
- 2021-06-04 AU AU2021448614A patent/AU2021448614A1/en active Pending
- 2021-06-04 WO PCT/CN2021/098375 patent/WO2022252220A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022252220A1 (en) | 2022-12-08 |
| CN113341968A (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110262495B (en) | Control system and method capable of realizing autonomous navigation and accurate positioning of mobile robot | |
| US20080059015A1 (en) | Software architecture for high-speed traversal of prescribed routes | |
| Kolski et al. | Autonomous driving in structured and unstructured environments | |
| CN112461227B (en) | Wheel type chassis robot inspection intelligent autonomous navigation method | |
| CN113189977B (en) | Intelligent navigation path planning system and method for robot | |
| CN108345005A (en) | The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine | |
| CN112518739A (en) | Intelligent self-navigation method for reconnaissance of tracked chassis robot | |
| Cherubini et al. | Visual navigation with obstacle avoidance | |
| CN105955257A (en) | Bus automatic driving system based on fixed route and driving method thereof | |
| CN114200945B (en) | Safety control method of mobile robot | |
| CN114022824A (en) | Narrow environment-oriented quadruped robot motion planning method | |
| CN113566808A (en) | Navigation path planning method, device, equipment and readable storage medium | |
| CN115167440A (en) | Virtual navigation-following-based multi-robot formation control method | |
| CN113377102A (en) | Control method, processor and device for excavator and excavator | |
| CN214846390U (en) | Dynamic environment obstacle avoidance system based on automatic guided vehicle | |
| JP2769972B2 (en) | Autonomous driving system for mobile robots on uneven terrain | |
| AU2021448614A1 (en) | Precise stopping system and method for multi-axis flatbed vehicle | |
| CN113341999A (en) | Forklift path planning method and device based on optimized D-x algorithm | |
| Che et al. | A wall-following navigation method for autonomous driving based on lidar in tunnel scenes | |
| Lu et al. | A laser scanning radar based autonomous lateral vehicle following control scheme for automated highways | |
| Brumitt et al. | Dynamic trajectory planning for a cross-country navigator | |
| Gao et al. | An obstacle detection and avoidance system for mobile robot with a laser radar | |
| Dragt et al. | An overview of the automation of load-haul-dump vehicles in an underground mining environment | |
| Podoprosvetov et al. | Development of complex control system for the autonomous vehicle Niva | |
| Feng | Technical change and development trend of automatic driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DA3 | Amendments made section 104 |
Free format text: THE NATURE OF THE AMENDMENT IS: AMEND THE NAME OF THE INVENTOR TO READ LU, SHOUYIN; LI, ZHIPENG; GAO, HUANBING; WANG, TAO; ZHANG, TAO AND FENG, SIMON YISHENG |