CN108873883A - A kind of contactless guiding device of track and its guidance method - Google Patents
A kind of contactless guiding device of track and its guidance method Download PDFInfo
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- CN108873883A CN108873883A CN201810204594.6A CN201810204594A CN108873883A CN 108873883 A CN108873883 A CN 108873883A CN 201810204594 A CN201810204594 A CN 201810204594A CN 108873883 A CN108873883 A CN 108873883A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
-
- 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
Abstract
The invention discloses a kind of contactless guiding device of track and guidance methods, including vehicle body, control section, drive part, Image Acquisition part and mode of laser group part；Body bottom and movement and steering for driving vehicle body is arranged in drive part, laser film group part is arranged in vehicle front and for launching laser in the corrugated color steel plate of vehicle front, Image Acquisition part be used to acquire vehicle front including the laser irradiation that mode of laser group part issues in the laser point in corrugated color steel plate including image；The work on vehicle body and for controlling drive part, Image Acquisition part and mode of laser group part is arranged in control section；The processing that guiding device of the invention is set to laser point is simple, improve the judgement speed of position, reduce the influence of environment light, realize robot High Precision Automatic guiding on male and fomale(M&F) guide rail, so that robot avoids touching track protrusion when driving along guide rail, knowledge and magnanimity are debated by point-like laser enhancing, realize that high-precision is oriented to.
Description
Technical field
The present invention relates to robot self-navigation fields, more specifically, more particularly to a kind of contactless guide rail guiding
Device and its guidance method.
Background technique
In recent years, Autonomous Mobile Robot technology is shown more in fields such as industry, agricultural, medicine and social service trades
Carry out more broad application prospect, thus becomes the hot issue of international academia of robot research.In Autonomous Mobile Robot
In the research of the relevant technologies, airmanship is that it studies core.
At this stage, it is accordingly required in particular to design a kind of robotic guide, realize that robot is high-precision in corrugated color steel plate
Spend auto-guider, influenced by environment light it is small so that robot avoids touching track protrusion when driving along guide rail.
Therefore the application proposes a kind of suitable for male and fomale(M&F) guide rail guiding device, debates knowledge and magnanimity by laser enhancing, realizes high
The guiding device of precision guiding.
Summary of the invention
It is an object of the invention to solve existing guiding device to cannot achieve High Precision Automatic in corrugated color steel plate lead
To the problem of, propose it is a kind of rung very small contactless guide rail guiding device by environment shadow, which is suitable for bumps
The guiding in face.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of contactless guiding device of track, including vehicle
Body, control section, drive part, Image Acquisition part and mode of laser group part；Drive part is arranged in body bottom and is used for
The movement and steering of vehicle body are driven, laser film group part is arranged in vehicle front and for the corrugated coloured silk to vehicle front
Launch laser on steel plate, it includes the laser photograph that mode of laser group part issues that described image collecting part, which is used to acquire vehicle front,
Penetrate the image including the laser point in corrugated color steel plate；The control section is arranged on vehicle body and for controlling driving portion
Divide, the work of Image Acquisition part and mode of laser group part；
The drive part includes driver, front-wheel, rear-wheel, front-end bearing pedestal, rear bearing block, chain, drive sprocket, driven
Sprocket wheel, front axle, rear axle, retarder and stepper motor, the driver are placed on vehicle body, and driving motor connects stepper motor simultaneously
The movement of stepper motor is driven, the stepper motor is placed on body bottom, and the output shaft of stepper motor is connected by retarder
Drive sprocket, the drive sprocket connect driven sprocket by chain, and the driven sprocket is arranged on rear axle, and the rear axle connects
It connects rear-wheel and is fixed on vehicle body by rear bearing block；The front-wheel is connected on front axle, and front axle is fixed on by front-end bearing pedestal
On vehicle body；
Mode of laser group part includes two point-like laser module brackets and two point-like laser mould groups, and two dotted sharp
Optical mode group passes through the left and right sides that two point-like laser module brackets are mounted on body structure, each point-like laser mould group branch respectively
The rotating mechanism of adjustable point-like laser mould group vertically and horizontally angle is provided on frame；
Described image collecting part includes CCD camera bracket and CCD camera；The CCD camera is imaged by CCD
Head bracket is fixed in the middle part of body structure, and two point-like laser module brackets are symmetricly set on the two sides of CCD camera bracket.
Further, there are two the stepper motor settings of drive part, it is respectively used to the independent driving of two front-wheels.
Further, the rotating mechanism includes rotary shaft, linking arm and rotating disk, and one end of linking arm connects rotating arm
Middle part, the threaded hole that linking arm matches is provided in rotary shaft, the other end of linking arm is provided with external screw thread, and linking arm is logical
Cross being coupled on the rotary shaft for external screw thread and threaded hole, the both ends of the rotary shaft be connected to point-like laser module bracket and
Rotary shaft and point-like laser module bracket clearance fit.
Further, the retarder is planetary reduction gear.
A kind of guidance method of contactless guiding device of track is come real using above-mentioned contactless guide rail guiding device
It is existing, include the following steps：
(1) two point-like laser mould groups are opened, the rotating mechanism of two mode of laser group parts is adjusted, makes two point-like lasers
Mo Zu launches the laser projection of rectilinear form on two convex portion seamed edges of corrugated color steel plate respectively；
(2) image of CCD camera shooting vehicle front, and mode of laser group in step (1) is emitted into laser in corrugated
Laser point in color steel plate is shot into image；
(3) CCD camera acquired image is sent to control section, is carried out by control section to the laser point in image
Processing, obtaining two point-like laser Mo Zu to emit incident point of the laser in corrugated color steel plate respectively is respectively A point and B point,
And coordinate system is established as origin at left picture boundary any point, wherein left margin is arranged in Y-axis, sets right margin as y
=x3, A point coordinate is (x1,y2), B point coordinate is (x2,y2), calculate the distance between point A and point B DAB, point A is away from the image left side
The distance D on boundaryA, point B range image right margin distance DB, point A ordinate and point B ordinate difference Dc, calculate public
Formula is respectively：
DA=x1；
DB=x3-x2；
Dc=y1-y2；
(4) distance DA of the binding site A away from left picture boundary and point B range image right margin distance DBCalculate vehicle body offset
Distance De, its calculation formula is：
De=DA-DB；
(5) D is combinedABAnd DeReaction vehicle body deviation angle θ is calculated, calculation formula is：
In formula, DsIt is in for vehicle body and directly walks point A under state at a distance from left picture boundary or point B and image right margin
Distance；
(6) by vehicle body offset distance DeDeviation of signal as control section calculates revolver and right wheel using pid algorithm
Speed difference Ue, its calculation formula is：
In formula, kpFor proportionality coefficient；T is integration time constant；TDFor derivative time constant；
7) when vehicle body, which is in, deviates straight-going state, in conjunction with θ and DeIt can determine vehicle body state：
When | θ |>At 20 °, vehicle body is in substantial deviation normal direction, and control vehicle body stops；
Work as Dc>When 0, θ>0, vehicle body is in right avertence state；
Work as Dc<When 0, θ<0, vehicle body is in left avertence state；
When vehicle body deviates normal direction by adjusting the speed difference U of left and right wheelseAdjustment direction adjusts drive part
Two stepper motors are until θ=0 and DeIndicate that vehicle body is in straight-going state, controls vehicle body U when=0e=0, it realizes to vehicle body side
To adjustment.
The beneficial effects of the present invention are：Guide design of the invention is reasonable, easy to use, the processing to laser point
Simply, the judgement speed of position is improved, the influence of environment light is reduced, realizes that robot is High Precision Automatic on male and fomale(M&F) guide rail and leads
To, so that robot avoids touching track protrusion when driving along guide rail, is enhanced by point-like laser and debate knowledge and magnanimity, realization height
Precision guiding.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of contactless guiding device of track of the present invention.
Fig. 2 is a kind of front view of contactless guiding device of track of the present invention.
Fig. 3 is a kind of bottom view of contactless guiding device of track of the present invention.
Fig. 4 is the viewgraph of cross-section of corrugated color steel plate of the present invention.
Fig. 5 is the laser spot position figure of the invention collected in image.
Fig. 6 is the schematic diagram of the coordinate system of CCD camera acquired image building of the present invention.
Fig. 7 is a kind of working principle block diagram of the guidance method of contactless guiding device of track of the present invention.
In figure, 1- track, 2- laser point, 3- point-like laser mould group, the control section 4-, 5- point-like laser module bracket, 6-
CCD camera bracket, 7-CCD camera, 8- driver, 9- front-wheel, 10- front-end bearing pedestal, 11- chain, 12- drive sprocket,
13- front axle, 14- retarder, 15- stepper motor, 16- vehicle body, 18- rear axle, 19- rear-wheel, 20- rear bearing block, 21- driven chain
Wheel, 22- left picture boundary, 23- image right margin, 24-A point, 25-B point, 26- origin, 27-X axis, 28-Y axis.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings：
As shown in figs. 1 to 6, a kind of contactless guiding device of track of the invention is in corrugated color steel plate or similar watt
It is moved in stupefied shape color steel plate, track 1 is provided in corrugated color steel plate, and the both ends of track are provided with boss, one kind is non-to be connect
Touch guiding device of track is moved along a straight line along the track 1 in corrugated color steel plate；Specifically include vehicle body 16, control
Part 4, drive part, Image Acquisition part and mode of laser group part；Drive part setting is in 16 bottom of vehicle body and for driving
The movement and steering of vehicle body 16, laser film group part are arranged in 16 front of vehicle body and for the corrugateds to 16 front of vehicle body
Launch laser in color steel plate, it includes swashing for mode of laser group part sending that described image collecting part, which is used to acquire in front of vehicle body 16,
Light is radiated at the image including the laser point 2 in corrugated color steel plate；The control section 4 is arranged on vehicle body 16 and for controlling
The work of drive part, Image Acquisition part and mode of laser group part processed.
The drive part includes driver 8, front-wheel 9, rear-wheel 19, front-end bearing pedestal 10, rear bearing block 20, chain 11, master
Movable sprocket 12, driven sprocket 21, front axle 13, rear axle 18, retarder 14 and stepper motor 15, the driver 8 are placed on vehicle body
On 16, driving motor connection stepper motor 15 and the movement for driving stepper motor 15, the stepper motor 15 are placed on vehicle body 16
The output shaft of bottom, stepper motor 15 connects drive sprocket 12 by retarder 14, and the drive sprocket 12 is connected by chain 11
Driven sprocket 21 is connect, the driven sprocket 21 is arranged on rear axle 18, and the rear axle 18 connects rear-wheel 19 and passes through rear bearing block
20 are fixed on vehicle body 16；The front-wheel 9 is connected on front axle 13, and front axle 13 is fixed on vehicle body 16 by front-end bearing pedestal 10.
Mode of laser group part includes two point-like laser module brackets 5 and two point-like laser mould groups 3, and two dotted
Mode of laser group 3 is mounted on the left and right sides of 16 front end of vehicle body, each point-like laser by two point-like laser module brackets 5 respectively
The rotating mechanism of adjustable point-like laser mould group 3 vertically and horizontally angle is provided in module bracket 5.
Described image collecting part includes CCD camera bracket 6 and CCD camera 7；The CCD camera 7 passes through CCD
Camera bracket 6 is fixed on 16 front center of vehicle body, and two point-like laser module brackets 5 are symmetricly set on CCD camera branch
The two sides of frame 6.
There are two the settings of stepper motor 15 of drive part, is respectively used to the independent driving of two front-wheels 9.
The rotating mechanism includes rotary shaft, linking arm and rotating disk, the middle part of one end connection rotating arm of linking arm, rotation
The threaded hole that linking arm matches is provided in shaft, the other end of linking arm is provided with external screw thread, and linking arm passes through external screw thread
With being coupled on the rotary shaft for threaded hole, the both ends of the rotary shaft are connected to point-like laser module bracket 5 and rotary shaft
With 5 clearance fit of point-like laser module bracket.
The retarder 14 is planetary reduction gear.
As shown in fig. 7, a kind of guidance method of contactless guiding device of track, is oriented to using above-mentioned contactless guide rail
Device is realized, is included the following steps：
(1) open two point-like laser mould groups 3, adjust the rotating mechanism of two mode of laser group parts, make two it is dotted swash
Optical mode group 3 launches the laser projection of rectilinear form on two convex portion seamed edges of corrugated color steel plate respectively；
(2) CCD camera 7 shoots the image in 16 front of vehicle body, and mode of laser group in step 1 is emitted laser in corrugated
Laser point 2 in color steel plate is shot into image；
(3) 7 acquired image of CCD camera is sent to control section 4, by control section 4 to the laser point 2 in image
It is handled, obtaining two point-like laser mould groups 3 to emit incident point of the laser in corrugated color steel plate respectively is respectively A point 24
With B point 25, and coordinate system is established as origin 26 at 22 any point of left picture boundary, wherein left margin is arranged in Y-axis 28
On, right margin is set as y=x3, 24 coordinate of A point is x1,y2, 25 coordinate of B point is x2,y2, calculate between A point 24 and B point 25 away from
From DAB, distance D of the A point 24 away from left picture boundary 22A, 25 range image right margin 23 of B point distance DB, A point 24 vertical seat
The difference D of the ordinate of mark and B point 25c, calculation formula is respectively：
DA=x1；
DB=x3-x2；
Dc=y1-y2；
(4) distance D of the A point 24 away from left picture boundary 22 is combinedAWith 25 range image right margin of B point, 23 distance DBIt calculates
16 offset distance D of vehicle bodye, its calculation formula is：
De=DA-DB；
(5) D is combinedABAnd DeReaction 16 deviation angle θ of vehicle body is calculated, calculation formula is：
In formula, DsBe in for vehicle body 16 directly walk under state A point 24 with left picture boundary 22 at a distance from or B point 25 with scheme
As the distance of right margin 23；
(6) by 16 offset distance D of vehicle bodyeDeviation of signal as control section 4 calculates revolver and the right side using pid algorithm
The speed difference U of wheele, its calculation formula is：
In formula, kpFor proportionality coefficient；T is integration time constant；TDFor derivative time constant；
(7) when vehicle body 16, which is in, deviates straight-going state, in conjunction with θ and DeIt can determine 16 state of vehicle body：
When | θ |>At 20 °, vehicle body 16 is in substantial deviation normal direction, and control vehicle body 16 stops；
Work as Dc>When 0, θ>0, vehicle body 16 is in right avertence state；
Work as Dc<When 0, θ<0, vehicle body 16 is in left avertence state；
When vehicle body 16 deviates normal direction by adjusting the speed difference U of left and right wheelseAdjustment direction adjusts drive part
Two stepper motors 15 until θ=0 and DeIndicate that vehicle body 16 is in straight-going state, controls vehicle body 16U when=0e=0, realization pair
The adjustment in 16 direction of vehicle body.
Above-described embodiment is presently preferred embodiments of the present invention, is not a limitation on the technical scheme of the present invention, as long as
Without the technical solution that creative work can be realized on the basis of the above embodiments, it is regarded as falling into the invention patent
Rights protection scope in.
Claims (5)
1. a kind of contactless guiding device of track, it is characterised in that：Including vehicle body (16), control section (4), drive part,
Image Acquisition part and mode of laser group part；Drive part is arranged in vehicle body (16) bottom and the movement for driving vehicle body (16)
And steering, the setting of laser film group part is in front of vehicle body (16) and is used for the corrugated color steel plate in front of vehicle body (16)
Launch laser, described image collecting part is used to acquire the laser irradiation issued in front of vehicle body (16) including mode of laser group part
Image including the laser point (2) in corrugated color steel plate；The control section (4) is arranged on vehicle body (16) and for controlling
The work of drive part, Image Acquisition part and mode of laser group part processed；
The drive part includes driver (8), front-wheel (9), rear-wheel (19), front-end bearing pedestal (10), rear bearing block (20), chain
(11), drive sprocket (12), driven sprocket (21), front axle (13), rear axle (18), retarder (14) and stepper motor (15), institute
It states driver (8) to be placed on vehicle body (16), driving motor connection stepper motor (15) and the movement for driving stepper motor (15),
The stepper motor (15) is placed on vehicle body (16) bottom, and the output shaft of stepper motor (15) passes through retarder (14) connection active
Sprocket wheel (12), the drive sprocket (12) are existed by chain (11) connection driven sprocket (21), driven sprocket (21) setting
On rear axle (18), the rear axle (18) connects rear-wheel (19) and is fixed on vehicle body (16) by rear bearing block (20)；Before described
Wheel (9) is connected on front axle (13), and front axle (13) is fixed on vehicle body (16) by front-end bearing pedestal (10)；
Mode of laser group part includes two point-like laser module brackets (5) and two point-like laser mould groups (3), and two dotted
Mode of laser group (3) is mounted on the left and right sides of vehicle body (16) front end, Mei Gedian by two point-like laser module brackets (5) respectively
The rotation of adjustable point-like laser mould group (3) vertically and horizontally angle is provided in shape laser module bracket (5)
Rotation mechanism；
Described image collecting part includes CCD camera bracket (6) and CCD camera (7)；The CCD camera (7) passes through
CCD camera bracket (6) is fixed on vehicle body (16) front center, and two point-like laser module brackets (5) are symmetricly set on CCD
The two sides of camera bracket (6).
2. a kind of contactless guiding device of track according to claim 1, it is characterised in that：The stepping electricity of drive part
There are two machine (15) settings, is respectively used to the independent driving of two front-wheels (9).
3. a kind of contactless guiding device of track according to claim 2, it is characterised in that：The rotating mechanism includes
Rotary shaft, linking arm and rotating disk, one end of linking arm connect the middle part of rotating arm, are provided with linking arm in rotary shaft and match
Threaded hole, the other end of linking arm is provided with external screw thread, and linking arm is fitted to rotation by external screw thread and threaded hole
On axis, the both ends of the rotary shaft are connected to point-like laser module bracket (5) and between rotary shaft and point-like laser module brackets (5)
Gap cooperation.
4. a kind of contactless guiding device of track according to claim 3, it is characterised in that：The retarder (14) is
Planetary reduction gear.
5. the guidance method of a kind of contactless guiding device of track according to claim 1, using above-mentioned contactless
Guide rail guiding device is realized, it is characterised in that：Include the following steps：
(1) two point-like laser mould groups (3) are opened, the rotating mechanism of two mode of laser group parts is adjusted, makes two point-like lasers
Mould group (3) launches the laser projection of rectilinear form on two convex portion seamed edges of corrugated color steel plate respectively；
(2) image in front of CCD camera (7) shooting vehicle body (16), and mode of laser group in step (1) is emitted into laser in corrugation
Laser point (2) in shape color steel plate is shot into image；
(3) CCD camera (7) acquired image is sent to control section (4), by control section (4) to the laser in image
Point (2) is handled, and is obtained two point-like laser mould groups (3) and is emitted incident point difference of the laser in corrugated color steel plate respectively
For A point (24) and B point (25), and coordinate system is established as origin (26) at left picture boundary (22) any point, wherein the left side
Boundary is arranged on Y-axis (28), sets right margin as y=x3, A point (24) coordinate is (x1,y2), B point (25) coordinate is (x2,y2),
Calculate the distance between A point (24) and B point (25) DAB, distance D of the A point (24) away from left picture boundary (22)A, B point (25) distance
The distance D of image right margin (23)B, A point (24) ordinate and B point (25) ordinate difference Dc, calculation formula difference
For：
DA=x1；
DB=x3-x2；
Dc=y1-y2；
(4) distance D of the A point (24) away from left picture boundary (22) is combinedAWith B point (25) range image right margin (23) distance DB
Calculate vehicle body (16) offset distance De, its calculation formula is：
De=DA-DB；
(5) D is combinedABAnd DeReaction vehicle body (16) deviation angle θ is calculated, calculation formula is：
In formula, DsFor vehicle body (16) be in directly walk state under A point (24) with left picture boundary (22) at a distance from or B point (25) and
The distance of image right margin (23)；
(6) by vehicle body (16) offset distance DeDeviation of signal as control section (4) calculates revolver and the right side using pid algorithm
The speed difference U of wheele, its calculation formula is：
In formula, kpFor proportionality coefficient；T is integration time constant；TDFor derivative time constant；
(7) when vehicle body (16), which are in, deviates straight-going state, in conjunction with θ and DeIt can determine vehicle body (16) state：
When | θ |>When 20 ゜, vehicle body (16) is in substantial deviation normal direction, and control vehicle body (16) stops；
Work as Dc>When 0, θ>0, vehicle body (16) is in right avertence state；
Work as Dc<When 0, θ<0, vehicle body (16) is in left avertence state；
When vehicle body (16) deviate normal direction by adjusting the speed difference U of left and right wheelseAdjustment direction adjusts drive part
Two stepper motors (15) are until θ=0 and DeIndicate that vehicle body (16) are in straight-going state, control vehicle body (16) U when=0e=0, it is real
Now to the adjustment in vehicle body (16) direction.
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| CN201810204594.6A CN108873883A (en) | 2018-03-13 | 2018-03-13 | A kind of contactless guiding device of track and its guidance method |
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| CN201810204594.6A CN108873883A (en) | 2018-03-13 | 2018-03-13 | A kind of contactless guiding device of track and its guidance method |
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| JP2001033207A (en) * | 1999-07-19 | 2001-02-09 | Tsubakimoto Chain Co | Method and device specifying position of moving body |
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