CN107918388A - Harbour container carries unmanned vehicle method for controlling trajectory and device - Google Patents
Harbour container carries unmanned vehicle method for controlling trajectory and device Download PDFInfo
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- CN107918388A CN107918388A CN201711088673.7A CN201711088673A CN107918388A CN 107918388 A CN107918388 A CN 107918388A CN 201711088673 A CN201711088673 A CN 201711088673A CN 107918388 A CN107918388 A CN 107918388A
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- unmanned vehicle
- current pose
- targeted attitude
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000004308 accommodation Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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
The present invention relates to a kind of harbour container to carry unmanned vehicle method for controlling trajectory, includes the following steps：Obtain target position information, targeted attitude information and current location information, the current pose information of the unmanned vehicle；When judging that the targeted attitude information is less than threshold value T with current pose information viewpoint difference D, according to the target position information, targeted attitude information and current location information, current pose information generation differential rotation information, to meet that the target position information, targeted attitude information and the current location information, current pose information are located on tangent circle；The unmanned vehicle operation is controlled until reaching target location according to the differential rotation information.Also correspondence provides a kind of track control device, including acquisition device, differential rotation information generating means and control device.Maximum radius of turn can be utilized to reduce the abrasion of tire, extend the service life of the wheel of unmanned vehicle.
Description
Technical field
The present invention relates to the horizontal carrying unmanned vehicle navigation control field of harbour container, in particular to a kind of harbour
Transporting container unmanned vehicle method for controlling trajectory and a kind of harbour container carry unmanned vehicle track control device.
Background technology
In harbour environment, transporting container unmanned vehicle usually need unload accommodation and stockyard position between shuttle, by
Posture between two positions is inconsistent, position is inconsistent, causes unmanned vehicle to carry out steering and gets to target location
And posture；In the case, when turning to more, it will accelerate the abrasion of tire, cause unmanned vehicle Life of Tyre short, and cause
Harbour ground tyre trace weight, impacts unmanned vehicle identification road surface.
The content of the invention
The present invention is asked what harbour road surface polluted to solve unmanned vehicle steering tire loss weight in the prior art
Topic, it is proposed that a kind of harbour container carries unmanned vehicle method for controlling trajectory, includes the following steps：
S110, the target position information for obtaining the unmanned vehicle, targeted attitude information and current location information, current pose
Information；
S120, when judging that the targeted attitude information and current pose information viewpoint difference D are less than threshold value T, according to described
Target position information, targeted attitude information and current location information, current pose information generation differential rotation information, to meet
State target position information, targeted attitude information and the current location information, current pose information is located on tangent circle；
S130, according to the differential rotation information control unmanned vehicle operation until reaching target location.
Further, following steps are further included before the step S130：
S141, when judging that the targeted attitude information and current pose information viewpoint difference D are more than the threshold value T, control
The unmanned vehicle original place rotational angle D-T, reacquires current location information, current pose information；
S142, according to the target position information, targeted attitude information and current location information, current pose information generate
Differential rotation information, to meet that the target position information, targeted attitude information and the current location information, current pose are believed
Breath is on tangent circle.
Further, it is described according to the target position information, targeted attitude information and current location information, current pose
The step of information generation differential rotation information, includes：The speed of outboard wheels in the unmanned vehicle is obtained using equation below,Wherein, vinRepresent the speed of inboard wheel, voutRepresent the speed of outboard wheels, V represents road speed, a
Represent the distance between left and right wheels, radius of turnDistance(X2,Y2)
Represent target location, (X1, Y1) represents current location, and B represents object attitude angle, and A is current pose angle.
Further, the step S130 includes, according to the velocity information of the inboard wheel of the unmanned vehicle and outside car
The velocity information of wheel sets the left and right wheel speed of the unmanned vehicle.
Further, the threshold value T is 90 degree.
On the other hand, additionally provide a kind of harbour container and carry unmanned vehicle track control device, including acquisition device, difference
Fast rotation information generating means and control device；
The acquisition device is used for target position information, targeted attitude information and the present bit confidence for obtaining the unmanned vehicle
Breath, current pose information；
The differential rotation information generating means are used to judge that the targeted attitude information and current pose information viewpoint are poor
When value D is less than threshold value T, given birth to according to the target position information, targeted attitude information and current location information, current pose information
Into differential rotation information, to meet the target position information, targeted attitude information and the current location information, current pose
Information is located on tangent circle；
The control device is used to control the unmanned vehicle operation until reaching target position according to the differential rotation information
Put.
Further, the differential rotation information generating means are additionally operable to judge the targeted attitude information and current pose
When information viewpoint difference D is more than the threshold value T, the unmanned vehicle original place rotational angle D-T is controlled, reacquires present bit confidence
Breath, current pose information, according to the target position information, targeted attitude information and current location information, current pose information
Differential rotation information is generated, to meet the target position information, targeted attitude information and the current location information, current appearance
State information is located on tangent circle.
Further, the differential rotation information generating means specifically obtain outside in the unmanned vehicle using equation below
The speed of wheel,Wherein, vinRepresent the speed of inboard wheel, voutRepresent the speed of outboard wheels, V tables
Show road speed, radius of turnDistance(X2, Y2) represents target position
Put, (X1, Y1) represents current location, and B represents object attitude angle, and A is current pose angle.
Further, the threshold value T is 90 degree.
Further, the acquisition device is GPS system and the combined system of inertial navigation system.
Apparatus and method in the present invention can reduce unmanned vehicle in harbour environment by increasing radius of turn when turning to
Tire wear during middle operation due to steering ribbon, adds the service life of tire.Object attitude angle and current is judged at the same time
When the differential seat angle of attitude angle is more than threshold value, the problem of planning driving path is larger in order to prevent, occurs, and original place rotates in advance, then takes most
Big radius of turn operation, has taken into account driving efficiency and has ensured the order of harbour operation.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to attached drawing, attached drawing is schematically without that should manage
Solve to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is the flow signal of the harbour container carrying unmanned vehicle method for controlling trajectory in some embodiments of the invention
Figure；
Fig. 2 is that the harbour container in some embodiments of the invention carries the signal of unmanned vehicle method for controlling trajectory steering state
Figure；
Fig. 3 is that the harbour container in some embodiments of the invention carries unmanned vehicle signal in unmanned vehicle method for controlling trajectory
Figure；
Fig. 4 is the flow signal of the harbour container carrying unmanned vehicle method for controlling trajectory in some embodiments of the invention
Figure；
Fig. 5 is that the harbour container in some embodiments of the invention carries the signal of unmanned vehicle method for controlling trajectory steering state
Figure；
Fig. 6 is that the harbour container in some embodiments of the invention carries unmanned vehicle track control device structure diagram.
Embodiment
It is to better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the case where there is no conflict, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be implemented using other different from other modes described here, therefore, protection scope of the present invention and from described below
Specific embodiment limitation.
In the prior art, the horizontal unmanned vehicle of carrying of harbour container usually needs to become between target location and current location
Change vehicular attitude angle, it is necessary to carry out turning operation, existing mode has, and pivot turn and then straight-line travelling, then reach target
Pivot turn is carried out behind position again, meets object attitude angle, this method of operation causes tire wear big, to harbour ground pollution
Also it is larger, it is unfavorable for unmanned vehicle longtime running.
The present invention proposes a kind of mode for asking for maximum radius of turn and is turned to, and reduces tire wear so that port
Mouth being capable of longtime running.Specifically, as shown in Figure 1, an embodiment of the present invention provides a kind of harbour container to carry unmanned track
Mark control method, includes the following steps：
S110, the target position information for obtaining the unmanned vehicle, targeted attitude information and current location information, current pose
Information；
S120, when judging that the targeted attitude information and current pose information viewpoint difference D are less than threshold value T, according to described
Target position information, targeted attitude information and current location information, current pose information generation differential rotation information, to meet
State target position information, targeted attitude information and the current location information, current pose information is located on tangent circle；
S130, according to the differential rotation information control unmanned vehicle operation until reaching target location.
It is as shown in Fig. 2, described according to the target position information, targeted attitude information and current location information, current appearance
The step of state information generation differential rotation information, includes：The speed of outboard wheels in the unmanned vehicle is obtained using equation below,Wherein, vinRepresent the speed of inboard wheel, voutThe speed of outboard wheels is represented, as shown in figure 3, a is represented
The distance between the revolver 240 of unmanned vehicle 200 and right wheel 230, V represent road speed, radius of turnAway from
From(X2, Y2) represents target location, and (X1, Y1) represents current location, and B represents target appearance
State angle, A are current pose angle.The speed of the left and right wheels is controlled according to the wheel velocity of inner side and outer side.In Fig. 2,
Targeted attitude 220, current pose 210, the definition of attitude angle are the angle rotated counterclockwise from x-axis.
The present invention is by asking for maximum radius of turn so that the left and right wheels speed difference of unmanned vehicle is minimum, reduces tire
Loss.
The present invention when being turned to using maximum radius of turn, in order to avoid due to turning path it is longer the problem of, obtain
Take and prejudged after attitude angle, if attitude angle is more than threshold value, at such as 90 degree, then carries out original place in advance and rotate, turn to
When the difference of attitude angle is 90 degree, stop, then going to ask maximum radius of turn, turning operation is carried out, specifically, such as Fig. 4, Fig. 5
It is shown, further include following steps before the step S130：
S141, when judging that the targeted attitude information and current pose information viewpoint difference D are more than the threshold value T, control
The unmanned vehicle original place rotational angle D-T, reacquires current location information, current pose information；
S142, according to the target position information, targeted attitude information and current location information, current pose information generate
Differential rotation information, to meet that the target position information, targeted attitude information and the current location information, current pose are believed
Breath is on tangent circle.
It is described to be generated according to the target position information, targeted attitude information and current location information, current pose information
The step of differential rotation information, includes：The speed of outboard wheels in the unmanned vehicle is obtained using equation below,Wherein, vinRepresent the speed of inboard wheel, voutRepresenting the speed of outboard wheels, V represents road speed,
Radius of turnDistance(X2, Y2) represents target location, (X1, Y1) table
Show current location, B represents object attitude angle, and A is current pose angle.D=B-A.
The step S130 includes, and is believed according to the speed of the velocity information of the inboard wheel of the unmanned vehicle and outboard wheels
Breath sets the left and right wheel speed of the unmanned vehicle；The threshold value T is 90 degree.
Another aspect of the present invention is based on the above method, as shown in Figure 6, there is provided a kind of harbour container carries unmanned track
Mark control device 100, including acquisition device 110, differential rotation information generating means 120 and control device 130；
The acquisition device 110 is used for target position information, targeted attitude information and the present bit for obtaining the unmanned vehicle
Confidence breath, current pose information；
The differential rotation information generating means 120 are used to judge the targeted attitude information and current pose information viewpoint
When difference D is less than threshold value T, according to the target position information, targeted attitude information and current location information, current pose information
Differential rotation information is generated, to meet the target position information, targeted attitude information and the current location information, current appearance
State information is located on tangent circle；
The control device 130 is used to control the unmanned vehicle operation until reaching target according to the differential rotation information
Position.
The speed of left and right wheels when obtaining maximum radius of turn by differential rotation information generating means 120, so as to reduce
The difference of left and right wheel speed, reduces the loss of wheel, ensure that wheel service life.
Meanwhile track is long in order to prevent so that harbour operation is chaotic.The embodiment of the present invention limit attitude angle it
Difference, the difference that first original place turns to attitude angle in advance is 90 degree, then maximum radius of turn is being asked for, according to the default speed of service
V obtains the speed of left and right wheels so that speed difference is minimum.
The differential rotation information generating means 120 are additionally operable to judge the targeted attitude information and current pose information angle
Degree difference D is when being more than the threshold value T, controls the unmanned vehicle original place rotational angle D-T, reacquisition current location information, when
Preceding attitude information, it is poor according to the target position information, targeted attitude information and current location information, the generation of current pose information
Fast rotation information, to meet the target position information, targeted attitude information and the current location information, current pose information
On tangent circle.
The differential rotation information generating means 120 specifically obtain outboard wheels in the unmanned vehicle using equation below
Speed,Wherein, vinRepresent the speed of inboard wheel, voutRepresent the speed of outboard wheels, V represents driving
Speed, radius of turnDistance(X2, Y2) represents target location, (X1,
Y1 current location) is represented, B represents object attitude angle, and A is current pose angle.D=B-A.
The threshold value T is 90 degree.
The acquisition device 110 is GPS system and the combined system of inertial navigation system.
Apparatus and method can utilize the abrasion of maximum radius of turn reduction tire in the present invention, extend the car of unmanned vehicle
The service life of wheel.
In the present invention, term " first ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of harbour container carries unmanned vehicle method for controlling trajectory, it is characterised in that includes the following steps：
S110, the target position information, targeted attitude information and the current location information that obtain the unmanned vehicle, current pose letter
Breath；
S120, when judging that the targeted attitude information and current pose information viewpoint difference D are less than threshold value T, according to the target
Positional information, targeted attitude information and current location information, current pose information generation differential rotation information, to meet the mesh
Cursor position information, targeted attitude information and the current location information, current pose information are located on tangent circle；
S130, according to the differential rotation information control unmanned vehicle operation until reaching target location.
2. harbour container according to claim 1 carries unmanned vehicle method for controlling trajectory, it is characterised in that in the step
Following steps are further included before rapid S130：
S141, when judging that the targeted attitude information and current pose information viewpoint difference D are more than the threshold value T, described in control
Unmanned vehicle original place rotational angle D-T, reacquires current location information, current pose information；
S142, according to the target position information, targeted attitude information and current location information, current pose information generate differential
Rotation information, to meet the target position information, targeted attitude information and the current location information, current pose information bit
In on tangent circle.(two embodiments).
3. harbour container according to claim 1 or 2 carries unmanned vehicle method for controlling trajectory, it is characterised in that described
According to the target position information, targeted attitude information and current location information, current pose information generation differential rotation information
The step of include：The speed of outboard wheels in the unmanned vehicle is obtained using equation below,Wherein, vinTable
Show the speed of inboard wheel, voutRepresent the speed of outboard wheels, V represents road speed, and a represents the distance between left and right wheels, turns
Curved radiusDistance(X2, Y2) represents target location, and (X1, Y1) is represented
Current location, B represent object attitude angle, and A is current pose angle.
4. harbour container according to claim 3 carries unmanned vehicle method for controlling trajectory, it is characterised in that the step
S130 includes, and the unmanned vehicle is set according to the velocity information of the velocity information of the inboard wheel of the unmanned vehicle and outboard wheels
Left and right wheel speed.
5. harbour container according to claim 1 or 2 carries unmanned vehicle method for controlling trajectory, it is characterised in that described
Threshold value T is 90 degree.
6. a kind of harbour container carries unmanned vehicle track control device, it is characterised in that rotates letter including acquisition device, differential
Cease generating means and control device；
The acquisition device be used for obtain the unmanned vehicle target position information, targeted attitude information and current location information,
Current pose information；
The differential rotation information generating means are used to judge that the targeted attitude information and current pose information viewpoint difference D are small
It is poor according to the target position information, targeted attitude information and current location information, the generation of current pose information when threshold value T
Fast rotation information, to meet the target position information, targeted attitude information and the current location information, current pose information
On tangent circle；
The control device is used to control the unmanned vehicle operation until reaching target location according to the differential rotation information.
7. harbour container according to claim 6 carries unmanned vehicle track control device, it is characterised in that the differential
Rotation information generating means are additionally operable to judge that the targeted attitude information is more than the threshold value with current pose information viewpoint difference D
During T, the unmanned vehicle original place rotational angle D-T is controlled, current location information, current pose information are reacquired, according to described
Target position information, targeted attitude information and current location information, current pose information generation differential rotation information, to meet
State target position information, targeted attitude information and the current location information, current pose information is located on tangent circle.
8. the harbour container according to claim 6 or 7 carries unmanned vehicle track control device, it is characterised in that described
Differential rotation information generating means specifically obtain the speed of outboard wheels in the unmanned vehicle using equation below,
Wherein, vinRepresent the speed of inboard wheel, voutRepresent the speed of outboard wheels, V represents driving speed
Degree, radius of turnDistance(X2, Y2) represents target location, (X1,
Y1 current location) is represented, B represents object attitude angle, and A is current pose angle.
9. the harbour container according to claim 6 or 7 carries unmanned vehicle track control device, it is characterised in that described
Threshold value T is 90 degree.
10. the harbour container according to claim 6 or 7 carries unmanned vehicle track control device, it is characterised in that described
Acquisition device is GPS system and the combined system of inertial navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711088673.7A CN107918388A (en) | 2017-11-08 | 2017-11-08 | Harbour container carries unmanned vehicle method for controlling trajectory and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711088673.7A CN107918388A (en) | 2017-11-08 | 2017-11-08 | Harbour container carries unmanned vehicle method for controlling trajectory and device |
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| CN201711088673.7A Pending CN107918388A (en) | 2017-11-08 | 2017-11-08 | Harbour container carries unmanned vehicle method for controlling trajectory and device |
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| CN109471441A (en) * | 2018-12-11 | 2019-03-15 | 湖南三智能控制设备有限公司 | Pavement construction machinery equipment and its online planing method, system and readable storage medium storing program for executing |
| CN111750859A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Transition path planning method and related device |
| CN112313592A (en) * | 2018-06-26 | 2021-02-02 | 采埃孚股份公司 | System and method for autonomously receiving a target object by a vehicle |
| CN112389438A (en) * | 2019-08-02 | 2021-02-23 | 北京图森智途科技有限公司 | Method and device for determining transmission ratio of vehicle steering system |
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Application publication date: 20180417 |