CN107422728B - Logistics robot lateral deviation control method and logistics robot - Google Patents

Abstract

The embodiment of the application provides a method for controlling horizontal deviation of a logistics robot and the logistics robot, wherein the method comprises the following steps: initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc; according to whether the logistics robot reaches a landmark point or not, calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; and adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angle deviation and the speed of the logistics robot, so as to control the transverse deviation of the logistics robot. The technical scheme improves the guidance precision of the logistics robot.

Description

A logistics robot lateral deflection control method and logistics robot

technical field

The invention relates to the technical field of logistics robots, in particular to a method for controlling lateral deviation of a logistics robot and a logistics robot.

Background technique

Automated Guided Vehicle (Automated Guided Vehicle), referred to as AGV, refers to a transport vehicle that is equipped with an automatic guiding device on the workplace, can drive along a prescribed guiding path, and has safety protection and various transfer functions. mobile robot. The AGV based on visual or other sensor recognition of landmarks uses on-board sensors to obtain ground landmark information to guide the AGV to drive along a predetermined trajectory. Yaw control during driving is still a difficult problem to solve.

Contents of the invention

Embodiments of the present invention provide a logistics robot lateral deflection control method and the logistics robot, so as to improve the guiding precision of the logistics robot.

In one aspect, an embodiment of the present invention provides a method for controlling lateral deflection of a logistics robot, the method comprising:

Initialize the position of the logistics robot at the starting point of the two-dimensional barcode;

When the logistics robot is working, use a camera or a code disc to judge whether the logistics robot has reached a landmark point;

According to whether the logistics robot reaches the landmark point, the course deviation and lateral deviation of the logistics robot are calculated by using a dynamic single-point pre-aiming method;

calculating the angular deviation of the logistics robot according to the course deviation and lateral deviation of the logistics robot;

According to the angular deviation and speed of the logistics robot, the rotation speed of the left and right wheels of the logistics robot is adjusted through proportional-integral-derivative PID control, so as to control the lateral deviation of the logistics robot.

On the other hand, an embodiment of the present invention provides a logistics robot. The logistics robot includes: a camera, arranged at the bottom of the logistics robot, connected to a central processing unit, and used to collect position information of two-dimensional barcode points on the ground; The code disc is connected with the central processing unit, and is used to calculate the driving distance and judge whether the distance D between the bar code point and the bar code point is equal;

The central processing unit is used to initialize the position of the logistics robot at the starting point of the two-dimensional barcode; when the logistics robot is working, use the camera or the code disc to judge whether the logistics robot has reached a landmark point;

The central processing unit is used to calculate the course deviation and lateral deviation of the logistics robot according to whether the logistics robot reaches the landmark point by using the method of dynamic single point pre-targeting; according to the course deviation and lateral deviation of the logistics robot , calculate the angular deviation of the logistics robot; according to the angular deviation and speed of the logistics robot, adjust the left and right wheel speeds of the logistics robot through proportional-integral-derivative PID control, so as to control the lateral deviation of the logistics robot.

The above-mentioned technical solution has the following beneficial effects: 1. The two-dimensional barcode camera is adopted, which has high precision; 2. The AGV driving deviation information processing is realized by combining the two-dimensional barcode point route, and the processing method is simple and accurate; 3. The AGV horizontal movement is realized by PID control Partial control, using simple modules, easy to implement.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a flow chart of a logistics robot lateral deflection control method according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a logistics robot according to an embodiment of the present invention;

Fig. 3 is the overall flowchart of the AGV lateral deflection control method of the application example of the present invention;

Fig. 4 is the structural representation of an embodiment of the AGV lateral deflection control system of the application example of the present invention;

Fig. 5 is a structural schematic diagram of an embodiment of an AGV lateral deflection control device of an application example of the present invention;

6 is a schematic diagram of the motion model of the AGV controlled and adjusted by the AGV lateral deviation control method of the application example of the present invention;

Fig. 7 is a reference schematic diagram of AGV initialization in an application example of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1, it is a flow chart of a logistics robot lateral deviation control method according to an embodiment of the present invention, and the method includes:

101. Initialize the position of the logistics robot at the starting point of the two-dimensional barcode;

102. When the logistics robot is working, use a camera or a code disc to determine whether the logistics robot has reached a landmark point;

103. According to whether the logistics robot reaches the landmark point, use the dynamic single-point pre-aiming method to calculate the heading deviation and lateral deviation of the logistics robot;

104. Calculate the angular deviation of the logistics robot according to the course deviation and lateral deviation of the logistics robot;

105. According to the angular deviation and speed of the logistics robot, adjust the rotation speed of the left and right wheels of the logistics robot through proportional-integral-derivative PID control, so as to control the lateral deviation of the logistics robot.

Preferably, the logistics robot includes an automatic guided transport vehicle (AGV).

Preferably, the initialization of the position of the logistics robot at the starting point of the two-dimensional barcode specifically includes: detecting the landmark of the two-dimensional barcode point and the error of the starting position at the starting point of the AGV two-dimensional barcode, and correcting the AGV course deviation.

Preferably, when the AGV is working, by detecting the code disc data of the AGV to calculate the driving distance to determine whether the distance D between the barcode points is equal, or to use the camera to detect whether the AGV has received two-dimensional barcode information, To judge whether the logistics robot has reached the landmark point;

According to whether the logistics robot reaches the landmark point, the dynamic single-point pre-targeting method is used to calculate the course deviation and lateral deviation of the logistics robot; according to the course deviation and lateral deviation of the logistics robot, the logistics robot is calculated Angular deviation; includes:

According to the lateral deviation of the AGV, pre-target the next two-dimensional barcode point at the current position, and dynamically calculate the angle deviation of the AGV, which specifically includes: when the AGV has not reached a certain landmark point, the AGV is between the landmark points By collecting the travel distance of the left and right wheels of the AGV from the last two-dimensional barcode point, the current course deviation and lateral deviation of the AGV are calculated, and then according to the course deviation and lateral deviation of the AGV, the calculated The angle deviation of the AGV; when the AGV reaches a certain landmark point, judge whether to collect the two-dimensional barcode information: if yes, directly obtain the heading deviation and the lateral deviation of the AGV by collecting the two-dimensional barcode information , and then calculate the angle deviation of the AGV; if not, calculate according to the situation when the AGV has not reached a certain landmark.

Preferably, according to the angular deviation and speed of the logistics robot, the rotation speed of the left and right wheels of the logistics robot is adjusted through proportional-integral-derivative PID control, so as to control the lateral deviation of the logistics robot, including:

Adjust the input voltage of the left and right wheel motors of the AGV through the linear addition control of the speed PID and the angle PID:

The speed PID is based on the current left and right wheel speed difference of the AGV and setting the AGV target speed as the control input, through the speed PID control, output the input voltage value of the AGV speed left and right wheel motors;

The angle PID uses the current angle deviation of the AGV as the control input, and through the angle PID control, the input voltage value of the left and right wheel motors of the AGV angle is output;

By linearly adding the input voltage value of the left and right wheel motors of the AGV speed and the input voltage value of the left and right wheel motors of the AGV angle, the final input voltage adjustment value of the AGV left and right wheel motors is obtained to control the walking of the AGV, thereby controlling the AGV lateral deviation.

Corresponding to the above-mentioned method embodiment, as shown in Figure 2, it is a schematic structural diagram of a logistics robot according to an embodiment of the present invention, and the logistics robot includes: a camera 21, which is arranged at the bottom of the logistics robot 20, and a central processing unit (Figure 2 Not shown, located inside the logistics robot 20) connected to each other, used to collect the position information of the two-dimensional barcode points on the ground; the code disc, connected to the central processing unit, used to calculate the driving distance and determine whether the distance D between the barcode points is equal;

The central processing unit is used to initialize the position of the logistics robot 20 at the starting point of the two-dimensional barcode; when the logistics robot 20 is working, use the camera 21 or code disc to judge whether the logistics robot has reached the landmark point;

The central processing unit is used to calculate the course deviation and lateral deviation of the logistics robot 20 according to whether the logistics robot 20 reaches the landmark point by using a dynamic single-point pre-aiming method; according to the course deviation of the logistics robot 20 and lateral deviation, calculate the angle deviation of the logistics robot 20; according to the angle deviation and speed of the logistics robot 20, adjust the left and right wheels 23 speeds of the logistics robot 20 through proportional-integral-derivative PID control, thereby controlling the The logistics robot 20 deflects laterally.

Preferably, the logistics robot 20 includes an automatic guided transport vehicle (AGV).

Preferably, the central processing unit is specifically used to detect the two-dimensional barcode point landmark and the initial position error at the starting point of the AGV two-dimensional barcode, and correct the AGV heading deviation.

Preferably, the code disc 21 is specifically used to determine whether the distance D between the barcode point and the bar code point is equal by detecting the code disc data of the AGV when the AGV is working, or the camera is specifically used to When the AGV is working, by detecting whether the AGV has received two-dimensional barcode information, it is judged whether the logistics robot has reached the landmark point;

The central processor is specifically used to pre-target the next two-dimensional barcode point at the current position according to the lateral deviation of the AGV, and dynamically calculate the angle deviation of the AGV, specifically including: when the AGV does not reach a certain landmark point state Next, the AGV travels on the path between the landmark points, and calculates the current course deviation and lateral deviation of the AGV by collecting the travel distance of the left and right wheels of the AGV from the last two-dimensional barcode point, and then according to the AGV Calculate the angular deviation of the AGV; when the AGV reaches a certain landmark point, judge whether the two-dimensional barcode information is collected: if yes, directly obtain the two-dimensional barcode information by collecting the two-dimensional barcode information The heading deviation and lateral deviation of the AGV, and then calculate the angle deviation of the AGV; if not, calculate according to the situation that the AGV has not reached a certain landmark state.

Preferably, the central processing unit is specifically used to adjust the input voltage of the left and right wheel motors of the AGV through the linear addition control of two PIDs, the speed PID and the angle PID: the central processing unit includes:

The speed PID control module is used to use the current left and right wheel speed difference of the AGV and set the AGV target speed as the control input, and output the input voltage value of the AGV speed left and right wheel motors through the speed PID control;

The angle PID control module is used to use the current angle deviation of the AGV as the control input, and output the input voltage value of the AGV angle left and right wheel motors through the angle PID control;

The calculation module is used to linearly add the input voltage value of the left and right wheel motors of the AGV speed and the input voltage value of the left and right wheel motors of the AGV angle to obtain the final adjustment value of the input voltage of the AGV left and right wheel motors to control the walking of the AGV , so as to control the lateral deviation of the AGV.

The above-mentioned technical solution of the embodiment of the present invention has the following beneficial effects: 1. A two-dimensional barcode camera is adopted, with high precision; 2. AGV driving deviation information processing is realized by combining two-dimensional barcode point routes, and the processing method is simple and accurate; 3. PID is adopted The control realizes the lateral deflection control of AGV, and adopts a simple module, which is easy to realize.

The following describes the embodiment of the present invention in detail through the application example through the logistics robot as the automatic guided transport vehicle AGV:

AGV driving control is a control technology that integrates control, data processing, data acquisition, etc., by controlling the wheel speed and direction. A kind of control, previewing the two-dimensional code landmark, the advantage of realizing the lateral deviation control of AGV is the real-time collection and processing of the lateral deviation control amount, and the AGV lateral deviation control device is simple and easy to implement, which can provide a new AGV Lateral deviation control method and device.

The application example of the present invention provides an AGV lateral deviation control method and device, which can use the preview two-dimensional code landmark to collect and process the lateral deviation error, and control the AGV lateral deviation in real time, which has the advantages of simplicity and good real-time performance. The main steps in the implementation process are shown in Figure 1, and the specific detailed flow chart is shown in Figure 3. The structure involved in the implementation of the method is shown in Figure 4, including: AGV301, pose information acquisition unit 302, and rotational speed information acquisition unit 303, AGV lateral deviation control device 304, landmark information collection unit 305, landmark 306, the AGV lateral deviation control device 304 involved in the specific implementation of the method, its structure is shown in Figure 5, mainly including: information collection and processing module 501 , a central processing module 502 , a power management module 503 , a communication module 504 , and a motor control module 505 . Initialize the position of the AGV at the starting point; first determine whether the AGV has reached the landmark point on the driving path; if the AGV obtains the two-dimensional code information, it can directly obtain the current heading angle and lateral deviation of the AGV, and calculate the AGV’s position based on this Angle deviation; if the AGV does not reach the landmark point, that is, the two-dimensional code information is not obtained, the AGV calculates the current heading angle and lateral deviation of the AGV through the code disc data and gyroscope data, and calculates it according to the method of dynamic single-point pre-aiming The angle deviation of the AGV; adjust the rotation speed of the left and right wheels of the AGV through PID control, and dynamically adjust the heading and lateral deviation of the AGV driving; so far, an adjustment cycle is over, and the next adjustment process is re-entered. The specific implementation of the method proposed in this patent is described as follows:

After the AGV301 is started, it first performs step 1, that is, the AGV position initialization;

AGV301 detects whether the two-dimensional barcode of the starting point exists by the landmark information collection unit 305 at the initial barcode point, if not, then initialization fails; if yes, detects the two-dimensional barcode, and the landmark information collection unit 305 outputs the current lateral deviation and AGV course deviation; judge whether the AGV course deviation is within the allowable error range, if not, adjust the AGV course to within the allowable error range; if yes, the initialization is successful.

After the initialization of AGV301 is completed, the communication module 504 receives instructions from the upper computer to drive along the predetermined path. During the driving process, first judge whether the AGV301 has reached the barcode point; that is, perform step 2;

There are two states of AGV during driving:

(1) The AGV does not reach a certain landmark point, but drives on the path between the landmark points;

(2) The AGV reaches a certain landmark point, that is, the two-dimensional barcode point.

There are two conditions for judging the state of the AGV:

Condition 1: Obtain the accumulated pulse number of the left and right wheels of the AGV since the last barcode point through the speed information acquisition unit 303, and then calculate whether the distance traveled by the AGV301 reaches the fixed distance D between the barcode points;

The formula for calculating the driving distance is as follows:

S _L , S _R are the driving distances of the left and right wheels of the AGV, Q _L , and Q _R are the accumulated pulse numbers of the left and right wheels of the AGV, respectively, Q is the fixed number of pulses sent by the AGV wheel for one revolution, and R is the wheel diameter of the AGV. S is the driving distance of the AGV.

Condition 2: by detecting whether the landmark information collection unit 305 has data output;

Condition 1 and condition 2 are in a logical or relationship, that is, as long as one condition is yes, it is considered that the AGV has reached the next barcode point and is in state 2; after the judgment is completed, perform step 3; that is, according to the method of dynamic single-point pre-aiming , calculate the AGV angle deviation;

In state 1, the AGV is driving on the path between the landmark points, and the speed information collection unit 303 collects the driving distance of the left and right wheels of the AGV from the last barcode point, calculates the current course deviation and lateral deviation of the AGV, and then calculates the angle deviation of the AGV ; Its calculation formula is as follows:

It is stipulated that the lateral deviation and heading of the AGV are positive to the right;

Referring to time T2 in Figure 6:

in, is the AGV course change from T1 to T2 calculated by the code disc data, L is the distance between the left and right wheels of the AGV, β _et2 is the AGV course angle estimated by the code disc data at T2 time, and β _t1 is the course of the AGV at T1 time β _gt2 is the AGV heading angle obtained by the gyroscope at T2, KF is the Kalman filter, and β _t2 is the optimal estimated value of the AGV heading obtained by linear Kalman filter estimation of β _{et2 and} β _gt2 .

Referring to Figure 7, using the dynamic single-point pre-aiming method, the AGV pre-aiming at the next barcode point, and calculating the AGV angle deviation θ _t2 at time T2:

Among them, S _Lt2 and S _Rt2 are respectively the distance traveled by the left and right wheels of the AGV from t1 to t2, and S _i is the distance traveled by the AGV in the i-th cycle after leaving the last barcode point.

(2) In state two, first judge whether two-dimensional barcode information is collected through the data output of the landmark information collection unit 305 .

If yes, directly obtain the heading deviation and lateral deviation of the AGV by collecting the two-dimensional barcode information, and then calculate the angle deviation of the AGV; the calculation process is as in state one; if not, it is calculated according to state one.

Execute step 4, adjust the rotation speed of the left and right wheels of the AGV through PID control, and return to step 2. Assume that the current AGV is in the i-th cycle after leaving a certain bar code point; PID control is used to adjust the input voltage of the left and right wheel motors of the AGV through the linear addition of two PIDs, the speed PID and the angle PID; And set the AGV target speed as the control input, through the speed PID control, output the input voltage value of the AGV left and right wheel motors; the angle PID uses the current angle deviation of the AGV as the control input, through the angle PID control, output the input voltage adjustment of the AGV left and right wheel motors ; By linearly adding the AGV left and right wheel motor input voltage adjustments output by the speed PID and the angle PID, the final AGV left and right wheel motor input voltage adjustments are obtained to control the walking of the AGV.

The detailed calculation process is as follows:

Speed PID formula:

Angle PID formula:

Among them: V _Lti is the left wheel speed of the AGV at the time ti, S _Lti is the distance traveled by the left wheel between the time ti and the previous time, V _Rti is the speed of the right wheel of the AGV at the time ti, and S _Rti is the distance traveled by the right wheel between the time ti and the previous time Distance, V _ti is the speed of AGV at time ti, V _set is the speed set by the host computer to send instructions to AGV, is the difference between the speed set by the AGV at time ti and the current speed, Vol _vti is the adjusted voltage value of the AGV left and right wheel motors output by the speed PID at time ti, K _v , I _v , D _v are the proportional coefficients in the speed PID , integral coefficient, differential coefficient, Vol _θti is the adjusted voltage value of the left and right wheel motors of the AGV output by the angle PID at the time ti, Vol _Lti and Vol _Rti are the final input voltage values of the left and right wheel motors of the AGV at the time ti.

After the AGV motor voltage is determined, the attitude and lateral deviation of the AGV are adjusted, continue to return to step 2, and cycle through this process, and use the dynamic single-point pre-aiming method to dynamically adjust the attitude and lateral deviation of the AGV during the AGV driving process.

The above-mentioned technical solution has the following beneficial effects: 1. The two-dimensional barcode camera is adopted, which has high precision; 2. The AGV driving deviation information processing is realized by combining the two-dimensional barcode point route, and the processing method is simple and accurate; 3. The AGV horizontal movement is realized by PID control Partial control, using simple modules, easy to implement.

It is understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy described.

In the foregoing Detailed Description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, the invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into the Detailed Description, with each claim standing on its own as a separate preferred embodiment of this invention.

The foregoing description of the disclosed embodiments was provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the spirit and scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments presented herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description includes illustrations of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods to describe the above-mentioned embodiments, but those skilled in the art should recognize that various embodiments can be further combined and permuted. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "comprises" is used in the specification or claims, the word is encompassed in a manner similar to the term "comprises" as interpreted when "comprises" is used as a link in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

Those skilled in the art can also understand that various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of both. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units and steps above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and overall system design requirements. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the protection scope of the embodiments of the present invention.

Various illustrative logic blocks or units described in the embodiments of the present invention can be discretely processed by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic devices. Gate or transistor logic, discrete hardware components, or any combination of the above designed to implement or operate the described functions. The general-purpose processor may be a microprocessor, and optionally, the general-purpose processor may also be any conventional processor, controller, microcontroller or state machine. A processor may also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration to accomplish.

The steps of the method or algorithm described in the embodiments of the present invention may be directly embedded in hardware, a software module executed by a processor, or a combination of both. The software modules may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM or any other storage medium in the art. Exemplarily, the storage medium can be connected to the processor, so that the processor can read information from the storage medium, and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be set in the ASIC, and the ASIC can be set in the user terminal. Optionally, the processor and the storage medium may also be set in different components in the user terminal.

In one or more exemplary designs, the above functions described in the embodiments of the present invention may be implemented in hardware, software, firmware or any combination of the three. If implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special computer. For example, such computer-readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other device that can be used to carry or store instructions or data structures and Other medium of program code in a form readable by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. In addition, any connection is properly defined as a computer-readable medium, for example, if the software is transmitted from a website site, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) Or transmitted by wireless means such as infrared, wireless and microwave are also included in the definition of computer readable media. Disks and discs include compact discs, laser discs, optical discs, DVDs, floppy discs, and Blu-ray discs. Disks usually reproduce data magnetically, while discs usually reproduce data optically with lasers. Combinations of the above can also be contained on a computer readable medium.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the scope of the present invention. Protection scope, within the spirit and principles of the present invention, any modification, equivalent replacement, improvement, etc., shall be included in the protection scope of the present invention.

Claims (6)

1. A logistics robot lateral deflection control method, characterized in that the method comprises: Initialize the position of the logistics robot at the starting point of the two-dimensional barcode; When the logistics robot is working, use a camera or a code disc to judge whether the logistics robot has reached a landmark point; According to whether the logistics robot reaches the landmark point, the course deviation and lateral deviation of the logistics robot are calculated by using a dynamic single-point pre-aiming method; calculating the angular deviation of the logistics robot according to the course deviation and lateral deviation of the logistics robot; According to the angular deviation and speed of the logistics robot, the rotation speed of the left and right wheels of the logistics robot is adjusted through proportional-integral-derivative PID control, thereby controlling the lateral deviation of the logistics robot; The logistics robot includes an automatic guided transport vehicle AGV; According to the angle deviation and speed of the logistics robot, the rotation speed of the left and right wheels of the logistics robot is adjusted through proportional-integral-derivative PID control, so as to control the lateral deviation of the logistics robot, including: Adjust the input voltage of the left and right wheel motors of the AGV through the linear addition control of the speed PID and the angle PID: The speed PID is based on the current left and right wheel speed difference of the AGV and setting the AGV target speed as the control input, through the speed PID control, output the input voltage value of the AGV speed left and right wheel motors; The angle PID uses the current angle deviation of the AGV as the control input, and through the angle PID control, the input voltage value of the left and right wheel motors of the AGV angle is output; By linearly adding the input voltage value of the left and right wheel motors of the AGV speed and the input voltage value of the left and right wheel motors of the AGV angle, the final input voltage adjustment value of the AGV left and right wheel motors is obtained to control the walking of the AGV, thereby controlling the AGV lateral deviation; The calculation process is as follows: Speed PID formula: Angle PID formula: Among them: V _Lti is the left wheel speed of the AGV at the time ti, S _Lti is the distance traveled by the left wheel between the time ti and the previous time, V _Rti is the speed of the right wheel of the AGV at the time ti, and S _Rti is the distance traveled by the right wheel between the time ti and the previous time Distance, V _ti is the speed of AGV at time ti, V _set is the speed set by the host computer to send instructions to AGV, is the difference between the speed set by the AGV at time ti and the current speed, Vol _vti is the adjusted voltage value of the AGV left and right wheel motors output by the speed PID at time ti, K _v , I _v , D _v are the proportional coefficients in the speed PID , integral coefficient, differential coefficient, Vol _θti is the adjusted voltage value of the left and right wheel motors of the AGV output by the angle PID at the time ti, Vol _Lti and Vol _Rti are the final input voltage values of the left and right wheel motors of the AGV at the time ti; In state 1, the AGV is driving on the path between the landmark points, and the driving distance of the left and right wheels of the AGV from the last barcode point is collected through the speed information collection unit (303), and the current course deviation and lateral deviation of the AGV are calculated, and then the AGV’s Angle deviation; its calculation formula is as follows: It is stipulated that the lateral deviation and heading of the AGV are positive to the right; T2 moment: β _t2 = KF(β _et2 , β _gt2 ), where, /> is the AGV course change from T1 to T2 calculated by the code disc data, L is the distance between the left and right wheels of the AGV, β _et2 is the AGV course angle estimated by the code disc data at T2 time, and β _t1 is the course of the AGV at T1 time angle, β _gt2 is the AGV heading angle obtained by the gyroscope at T2, KF is the Kalman filter, and β _t2 is the optimal estimated value of the AGV heading obtained by linear Kalman filter estimation of β _et2 and β _gt2 ; Using the method of dynamic single-point pre-aiming, the AGV pre-aims at the next barcode point, and calculates the AGV angle deviation θ _t2 at time T2: θ _t2 = β _t2 - α _t2 , Among them, S _Lt2 and S _Rt2 are respectively the distance traveled by the left and right wheels of the AGV from t1 to t2, and S _i is the distance traveled by the AGV in the i-th cycle after leaving the last barcode point. 2. The method for controlling the lateral deviation of the logistics robot according to claim 1, wherein the initializing the position of the logistics robot at the starting point of the two-dimensional barcode specifically includes: Detect the two-dimensional barcode point landmark and the initial position error at the starting point of the AGV two-dimensional barcode, and correct the AGV course deviation. 3. The logistics robot lateral deviation control method as claimed in claim 1, wherein, when the AGV is working, whether the distance D is calculated by detecting the code disc data of the AGV to determine whether the distance D is equal to the bar code point, or Use the camera to detect whether the AGV has received two-dimensional barcode information to determine whether the logistics robot has reached the landmark point; According to whether the logistics robot reaches the landmark point, the dynamic single-point pre-targeting method is used to calculate the course deviation and lateral deviation of the logistics robot; according to the course deviation and lateral deviation of the logistics robot, the logistics robot is calculated Angular deviation; includes: According to the lateral deviation of the AGV, pre-target the next two-dimensional barcode point at the current position, and dynamically calculate the angle deviation of the AGV, which specifically includes: when the AGV has not reached a certain landmark point, the AGV is between the landmark points By collecting the travel distance of the left and right wheels of the AGV from the last two-dimensional barcode point, the current course deviation and lateral deviation of the AGV are calculated, and then according to the course deviation and lateral deviation of the AGV, the calculated The angle deviation of the AGV; when the AGV reaches a certain landmark point, judge whether to collect the two-dimensional barcode information: if yes, directly obtain the heading deviation and the lateral deviation of the AGV by collecting the two-dimensional barcode information , and then calculate the angle deviation of the AGV; if not, calculate according to the situation when the AGV has not reached a certain landmark. 4. A logistics robot, characterized in that, the logistics robot comprises: a camera, arranged at the bottom of the logistics robot, connected with the central processing unit, for collecting the position information of the two-dimensional bar code point on the ground; The central processing unit is connected to calculate the driving distance and judge whether the distance D between the barcode point and the barcode point is equal; The central processing unit is used to initialize the position of the logistics robot at the starting point of the two-dimensional barcode; when the logistics robot is working, use the camera or the code disc to judge whether the logistics robot has reached a landmark point; The central processing unit is used to calculate the course deviation and lateral deviation of the logistics robot according to whether the logistics robot reaches the landmark point by using the method of dynamic single point pre-targeting; according to the course deviation and lateral deviation of the logistics robot , calculating the angular deviation of the logistics robot; according to the angular deviation and speed of the logistics robot, adjusting the left and right wheel speeds of the logistics robot through proportional-integral-derivative PID control, thereby controlling the lateral deviation of the logistics robot; The logistics robot includes an automatic guided transport vehicle AGV; The central processing unit is specifically used to adjust the input voltage of the AGV left and right wheel motors through the linear addition control of two PIDs, the speed PID and the angle PID: the central processing unit includes: The speed PID control module is used to use the current left and right wheel speed difference of the AGV and set the AGV target speed as the control input, and output the input voltage value of the AGV speed left and right wheel motors through the speed PID control; The angle PID control module is used to use the current angle deviation of the AGV as the control input, and output the input voltage value of the AGV angle left and right wheel motors through the angle PID control; The calculation module is used to linearly add the input voltage value of the left and right wheel motors of the AGV speed and the input voltage value of the left and right wheel motors of the AGV angle to obtain the final adjustment value of the input voltage of the AGV left and right wheel motors to control the walking of the AGV , so as to control the lateral deviation of the AGV; The calculation process is as follows: Speed PID formula: Angle PID formula: Among them: V _Lti is the left wheel speed of the AGV at the time ti, S _Lti is the distance traveled by the left wheel between the time ti and the previous time, V _Rti is the speed of the right wheel of the AGV at the time ti, and S _Rti is the distance traveled by the right wheel between the time ti and the previous time Distance, V _ti is the speed of AGV at time ti, V _set is the speed set by the host computer to send instructions to AGV, is the difference between the speed set by the AGV at time ti and the current speed, Vol _vti is the adjusted voltage value of the AGV left and right wheel motors output by the speed PID at time ti, K _v , I _v , D _v are the proportional coefficients in the speed PID , integral coefficient, differential coefficient, Vol _θti is the adjusted voltage value of the left and right wheel motors of the AGV output by the angle PID at the time ti, Vol _Lti and Vol _Rti are the final input voltage values of the left and right wheel motors of the AGV at the time ti; In state 1, the AGV is driving on the path between the landmark points, and the driving distance of the left and right wheels of the AGV from the last barcode point is collected through the speed information collection unit (303), and the current course deviation and lateral deviation of the AGV are calculated, and then the AGV’s Angle deviation; its calculation formula is as follows: It is stipulated that the lateral deviation and heading of the AGV are positive to the right; T2 moment: β _t2 = KF(β _et2 , β _gt2 ), in, is the AGV course change from T1 to T2 calculated by the code disc data, L is the distance between the left and right wheels of the AGV, β _et2 is the AGV course angle estimated by the code disc data at T2 time, and β _t1 is the course of the AGV at T1 time angle, β _gt2 is the AGV heading angle obtained by the gyroscope at T2, KF is the Kalman filter, and β _t2 is the optimal estimated value of the AGV heading obtained by linear Kalman filter estimation of β _et2 and β _gt2 ; Using the method of dynamic single-point pre-aiming, the AGV pre-aims at the next barcode point, and calculates the AGV angle deviation θ _t2 at time T2: θ _t2 = β _t2 - α _t2 , Among them, S _Lt2 and S _Rt2 are respectively the distance traveled by the left and right wheels of the AGV from t1 to t2, and S _i is the distance traveled by the AGV in the i-th cycle after leaving the last barcode point. 5. logistics robot as claimed in claim 4, is characterized in that, The central processing unit is specifically used to detect two-dimensional barcode point landmarks and initial position errors at the starting point of the AGV two-dimensional barcode, and to correct the AGV course deviation. 6. logistics robot as claimed in claim 4, is characterized in that, The code disc is specifically used to calculate the driving distance by detecting the code disc data of the AGV when the AGV is working to determine whether the distance D between the bar code points is equal, or the camera is specifically used for when the AGV When working, by detecting whether the AGV has collected two-dimensional barcode information, it is judged whether the logistics robot has reached the landmark point; The central processor is specifically used to pre-target the next two-dimensional barcode point at the current position according to the lateral deviation of the AGV, and dynamically calculate the angle deviation of the AGV, specifically including: when the AGV does not reach a certain landmark point state Next, the AGV travels on the path between the landmark points, and calculates the current course deviation and lateral deviation of the AGV by collecting the travel distance of the left and right wheels of the AGV from the last two-dimensional barcode point, and then according to the AGV Calculate the angular deviation of the AGV; when the AGV reaches a certain landmark point, judge whether the two-dimensional barcode information is collected: if yes, directly obtain the two-dimensional barcode information by collecting the two-dimensional barcode information The heading deviation and lateral deviation of the AGV, and then calculate the angle deviation of the AGV; if not, calculate according to the situation that the AGV has not reached a certain landmark state.