CN109885070A - Motion control method, motion control apparatus and the automated storage and retrieval system of robot - Google Patents
Motion control method, motion control apparatus and the automated storage and retrieval system of robot Download PDFInfo
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Abstract
The invention discloses a kind of motion control methods of robot, comprising: reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target；The robot is planned from the starting point coordinate to the track of the terminal point coordinate, wherein the path of the track includes the straightway and arc segment of linking, the transition of speed is not present in the straightway and the intersection of arc segment for the movement mechanism of the robot；It is moved with the robot is controlled according to the track of the planning.
Description
Technical field
It is planned the present invention relates to robot or automatic stored field more particularly to a kind of arc trajectory for robot
Motion control method, control equipment and automated storage and retrieval system.
Background technique
In current logistic storage field, automatic guide vehicle (AGV) is more and more used to replace or mend
Fill hand labor.Automatic guide vehicle can receive article carrying task automatically, under program, reach first position, obtain
Article, then the second position is arrived in walking, and article is unloaded, continues to execute other tasks.Storage containing automatic guide vehicle
System, the flexibility of characteristic and distributed system with summary responses, can substantially reduce the overall cost of storage.
Existing two-dimension code navigation mobile robot establishes the grid coordinate system formed with cell in place.Machine
People generally carries out the linear movement of X or Y-direction along grid, and when the route of planning needs to turn, robot needs first to be decelerated to quiet
Only, it then is rotated in place, finally accelerates to sail out of turning point again.The efficiency moved in this way is relatively low, and a robot slows down,
May generate interlocking, cause other robot and slow down simultaneously, thus more it is robot cooperated when may block path.
Existing camber line planning is all based on greatly circular arc or the mode of elliptic arc linking straight line carries out, however circular arc and straight line
It is engaged on angular speed and there is jump, be easy to cause the reduction of control precision is even unstable to cause to skid.It would generally be using big
The method of amplitude reduction linear velocity is connected, and can reduce angular speed jump to a certain extent in this way, but influence efficiency, stability
It is still insufficient.Fig. 1 shows such a scheme.Wherein robot is in the eve for entering camber line, linear velocity v, angular speed
It is 0.At the time of into camber line, angular speed is linear velocity v/ arc radius r.Namely robot starts arc track movement
Words, angular speed are v/r from 0 transition, and the speed corresponding to driving wheel also has a jump, be easy to cause control unstable at this time
Fixed, control deviation is excessive.Fig. 2 shows the serious velocity jumps that before and after entering circular arc, the revolver and cruise of robot occur.
Some companies propose the method for camber line turning, and this method is carried out based on the mode of circular arc or elliptic arc linking straight line, when linking
There is jump on angular speed, be easy to cause the reduction of control precision is even unstable to cause to skid.
The content of background technology part is only the technology that inventor is known, not the existing skill of natural representative this field
Art.
Summary of the invention
In view of this, the present invention proposes a kind of motion control method of robot, comprising: reception starting point coordinate x_start,
Y_start and terminal point coordinate x_target, y_target；Plan the robot from the starting point coordinate to the terminal point coordinate
Track, wherein the path of the track includes the straightway and arc segment of linking, in the track, the movement of the robot
The transition of speed is not present in the straightway and the intersection of arc segment for mechanism；With the control robot according to the track
Track movement.
According to an aspect of the present invention, the motion control method further includes receiving linear velocity V, wherein the planning
The step of track includes: to calculate multiple characteristic time points；The acceleration of the robot is calculated according to the multiple characteristic time point
Degree and angular acceleration；The track is calculated with according to the acceleration, angular acceleration.
According to an aspect of the present invention, the multiple characteristic time point includes 16 characteristic time point T0-T15, in which:
T0=1；
T1=AccMax/Jerk/ts+T0；
T2=vMax/AccMax/ts+T0；
T3=T2+T1-T0；
T4=T3+floor ((x_target-0.8305)/vMax/ts+0.5)；
T5=omgAccMax/omgJerk/ts+T4；
T6=omgMax/omgAccMax/ts+T4；
T7=T6+T5-AT0；
T8=targetOmg/omgMax/ts+T4；
T9=T8+T5-T4；
T10=T8+T6-T4；
T11=T8+T7-T4；
T12=T11+1+floor ((y_target-0.8305)/vMax/ts+0.5)；
T13=T4+T1-T0；
T14=T4+T2-T0；
T15=T4+T3-T0；
Wherein ts is the sampling period, and track maximum speed vMax=linear velocity V, AccMax are track maximum acceleration value,
Jerk is track maximum jerk value, and omgMax is arc maximum angular speed, and omgAccMax is arc maximum angular acceleration,
OmgJerk is arc maximum angular acceleration, and targetOmg is camber line radian.
According to an aspect of the present invention, track maximum acceleration value AccMax=vMax*5, track maximum acceleration
Value Jerk=AccMax/ts/10；Arc maximum angular rate omgMax=50/180*pi；Arc maximum angular acceleration
OmgAccMax=omgMax*2；Arc maximum angular acceleration omgJerk=omgAccMax/ts/20；TargetOmg=
0.5*pi is 90 degree of camber lines.
According to an aspect of the present invention, the step of acceleration and angular acceleration of the calculating robot includes: basis
Current t moment and last moment accn-1Iterate to calculate current time acceleration accn, according to current t moment and last moment
angleaccn-1Iterate to calculate current time angular acceleration angleaccn, it is specific as follows:
According to an aspect of the present invention, the step of calculating track includes: and is utilized according to acceleration and angular acceleration
Track is calculated in following formula:
According to an aspect of the present invention, the movement mechanism of the robot includes at least two groups wheel, wherein one group of vehicle
Wheel is located at the inside of the track, wherein one group of wheel is located at the outside of the track.
The invention further relates to a kind of motion control apparatus for robot, comprising: reception starting point coordinate x_start, y_
The unit of start and terminal point coordinate x_target, y_target；Plan the robot from the starting point coordinate to the terminal
The unit of the track of coordinate, wherein the path of the track includes the straightway and arc segment of linking, the movement of the robot
The transition of speed is not present in the straightway and the intersection of arc segment for mechanism；With the control robot according to the planning
The unit of track movement.
The invention further relates to one kind to be used for automated storage and retrieval system, comprising: automatic guide vehicle；And control unit, with it is described from
Dynamic guide car communication, and be configured to execute motion control method as described above.
The invention further relates to a kind of computer readable storage medium, including the computer executable instructions being stored thereon,
The executable instruction implements control method as described above when being executed by processor.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the situation of automatic guide vehicle linear movement；
Fig. 2 shows the situations that automatic guide vehicle linear movement turns to
Fig. 3 shows the situation of automatic guide vehicle right angle camber line steering；
Fig. 4 shows the situation that the U-shaped camber line of automatic guide vehicle turns to；
Fig. 5 shows a kind of control method of automatic guide vehicle according to an embodiment of the invention；
Fig. 6 shows the control method of automatic guide vehicle in accordance with a preferred embodiment of the present invention；
Fig. 7 shows automatic guide vehicle according to a further aspect of the present invention；
Fig. 8 shows a kind of cargo movement system according to a further aspect of the present invention；
Fig. 9 shows the computer program product of at least some embodiment arrangements according to the present invention；
Figure 10 shows existing camber line programme；
The case where Figure 11 is shown before and after entering circular arc, the velocity jump of the revolver of robot and right wheel；
Figure 12 shows the motion control method of robot according to an embodiment of the invention；
Figure 13 shows the principle and effect of motion control method of the invention；
Figure 14 shows the left and right wheels of the robot obtained according to the motion control method of Figure 12 or the acceleration of left and right motor
Degree；
Figure 15 a-15b shows the track of the calculated robot of preferred embodiment according to the present invention；
Figure 16 shows the rate curve according to Figure 15 a-15b robot left and right wheels obtained；
The case where Figure 17 shows the turnings of 180 degree camber line；
Figure 18 shows a kind of automated storage and retrieval system according to an embodiment of the invention；With
Figure 19 shows the computer program product of at least some embodiment arrangements according to the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " go up ", " under ", " preceding ", " afterwards ", " left side ", " right side ", " heavily fortified point, and directly ", " level ", " top ", " bottom ", " is interior ", " outside ", "
Clockwise ", " counterclockwise " wait the orientation or positional relationship of instructions to be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second " are only
For descriptive purposes, it is not understood to indicate or imply relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more spy
Sign.In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected: can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature its " upper " or it " under "
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first spy
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and it is " following " including fisrt feature right above second feature and oblique upper, or be merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
One aspect of the present invention provides a kind of mobile scheme of camber line and the motion control logic mobile comprising the camber line, mentions
High automatic transportation unit overall operation efficiency.
In existing major part intelligent repository or packages machine people's system, entire place can be modeled and be divided into list
The form of first lattice.Each unit lattice are equal in magnitude, can be square, and are also possible to rectangular.It establishes in place with list
First lattice are the grid coordinate system of unit.The settable two dimensional code of unit center of a lattice, for the robot walked on it or
Person automatic guide vehicle positions.Usually from any one cell, all around the four of its direct neighbor can only be reached
A cell, and cannot directly reach four cells on diagonal line.Similar cell divides as can see from Figure 1
The schematic diagram in place.
When advancing on cell, motion mode usually has following four for sorting machine people or automatic guide vehicle: straight
Line is mobile, and linear movement turns to, and right angle camber line turns to, and U-shaped camber line turns to.General description is as follows respectively.
Fig. 1 shows the case where automatic guide vehicle linear movement.As shown in Figure 1, in cell coordinate system, it is automatic to guide
Vehicle is in cell (1,1), to reach cell (1,3), just will pass through cell (1,2) in a manner of linear movement.
Stain therein diagrammatically illustrates unit center of a lattice.
The case where turning to (right-angled bend) Fig. 2 shows automatic guide vehicle linear movement.As shown in Fig. 2, automatic guide vehicle
It is currently in cell (1,1), to reach cell (2,2).For this purpose, automatic guide vehicle needs to be moved straightly to cell
The central point of (1,2) and deceleration is stopped, rotation changes 90 degree directions in situ, finally moves along new direction acceleration and reaches list
First lattice (2,2).
Fig. 3 shows the situation of automatic guide vehicle right angle camber line steering.Wherein, automatic guide vehicle is needed to put from (1,1) and be passed through
It crosses (1,2) point and reaches (2,2) point.Automatic guide vehicle needs first the distance of half of cell of traveling upwards, then with cell side
As radius, 90 ° of arc rotating, half of the cell that finally moves right again reach target point to long half along clockwise direction.
Fig. 4 shows the situation that the U-shaped camber line of automatic guide vehicle turns to.Wherein, automatic guide vehicle is turned continuously across two
Movement schematic diagram when point, robot, which needs to put from (1,1), reaches (2,1) point by (1,2) and (2,2) point.Robot needs
The distance for first travelling a cell upwards reaches the center of (1,2), then using the half of cell side length as radius along suitable
180 ° of the clockwise arc rotating centers for reaching cell (2,2), finally to one cell of downward driving reach target point (2,
1)。
Fig. 5 shows a kind of control method 100 of automatic guide vehicle according to an embodiment of the invention.As shown in figure 5,
Control method 100 includes:
In step S101, the next position of the automatic guide vehicle is obtained.Such as unit locating for current automatic guide vehicle
Lattice are (1,1), according to current direction of travel, or the path planned in advance according to control system, it obtains under automatic guide vehicle
One position will be cell (1,2).
In step S102, determine whether described the next position is turning point.Such as the path planning mistake in automatic guide vehicle
Cheng Zhong, in the mobile route that path planning is found, the cell that direction of advance changes is turning point.Path planning is for example
It is for given beginning and end, since cell where starting point, along the one of direction of upper and lower, left and right four direction
Cell advance, recursive lookup go out one can reach home where cell mobile route.
In step S103, if described the next position is non-turning point, the automatic guide vehicle straight line is controlled described in
The next position.
The automatic guide vehicle is controlled in described the next position if described the next position is turning point in step S104
It is turned to, such as linear movement turns to, right angle camber line turns to or U-shaped camber line turns to, depending on the specific requirement of steering.
Below with reference to the control method 200 of the automatic guide vehicle of Fig. 6 description in accordance with a preferred embodiment of the present invention.
Step S201, S202 and S203 in Fig. 6 is similar with step S101, S102, S103 in Fig. 5, no longer superfluous herein
It states.
In step S202, if it is determined that the next position (next unit lattice) is turning point, then according to the feature of the next position
To determine whether being able to carry out various types of cornering operations.
In step S204, determine whether the next position meets U-shaped steering condition.If meeting U-shaped steering condition, carry out
To step S205, automatic guide vehicle is controlled, passes through described the next position in a manner of U-shaped turning.The mode of U-shaped turning such as Fig. 4
Shown, details are not described herein again.If being unsatisfactory for U-shaped turning condition, proceed to step S206, determines whether the next position meets
Camber line turning condition.If meeting camber line turning condition, proceed to step S207, controls automatic guide vehicle AGV with right angle arcuate
The mode of line passes through described the next position or cell.
If the next position had both been unsatisfactory for U-shaped steering condition or had been unsatisfactory for camber line turning condition, proceed to step S208,
Control automatic guide vehicle passes through the next position in a manner of right-angled bend.
In step S209, judge the next position whether be carrying task terminal.Then proceed to step if it is terminal
S211, whole process terminate.Otherwise, proceed to step S210, the next position iteration is become into current location, continues whole process
200。
According to one embodiment of present invention, by taking Fig. 3 as an example, the condition of right angle camber line steering for example,
A) turning point (1,2) is not path termination；
B) turning point (1,2) and the previous point (1,1) of turning point, turning point the latter point (2,2) are all without special duty；
C) cell and camber line inside cell lattice (i.e. 4 cells in Fig. 3) of 3 points more than be not all by other machines
People occupies.
It, should be in (2,2) and its subsequent point with path termination since the terminal of right angle camber line turning is the 3rd point (2,2)
It is just applicable in camber line turning, therefore needs condition a)；If robot, which needs the point in turning point and its front and back to stop, executes other
Business, and camber line turning cannot stop midway, therefore need condition b)；The practical motion track of camber line turning deviates from original road
Diameter, inside cell lattice are possible to collide if there is robot, and condition c) is when collision control calculates to the special of camber line turning
Processing.Specific explanations are as follows.
Right angle camber line turning track it is corresponding be original path 3 cells, wherein the 2nd cell be turn to
Point (facilitates due to that the terminal in path can be defined as in path planning turning point and path is split into a plurality of straightway divides
Section calculates), if encounter terminal when judging whether that camber line is needed to turn is unable to camber line turning naturally.Since right angle camber line is turned
It is the movement that can not be split, i.e., will not stops in turning point, and is not that straight line moves on 3 cells of arc trajectory
It is dynamic, therefore other tasks are executed if necessary, then camber line turning cannot be executed.Furthermore the practical motion track of camber line turning deviates
The track of the original path of path planning, automatic guide vehicle when actually mobile car body can part enter the unit on the inside of camber line
Lattice, if camber line inside cell lattice have other automatic guide vehicles or equipment, it is possible to generate collision, therefore the turning point cannot
Camber line turning.Above 3 points are exactly to judge whether several most basic situations in need of consideration that can turn with camber line, and in actual field
Other restrictive conditions may also be had in scape to need to consider, camber line turn could safely be carried out by only meeting these restrictive conditions
Curved, the mode that otherwise linear movement can only be used to turn to passes through turning point.
According to one embodiment of present invention, by taking Fig. 4 as an example, the primary condition of U-shaped camber line turning for example,
A) there are continuous two turning points (1,2) and (2,2), the two turning points are adjacent；
B) second turning point (2,2) is not terminal；
It c) is all clockwise or counterclockwise in two turning points；
D) two turning points (1,2) and (2,2) and its previous point (1,1) and the latter point (2,1) are all without special
Business；
E) cell and two cells (i.e. 6 cells in Fig. 2) on the outside of turning point of 4 points more than all do not have
Have and is occupied by other robot.
If only one turning point, the turning of right angle camber line should be executed, and U-shaped turning is turned to continuous two
Movement routine optimization；Since the terminal of right angle camber line turning is the 4th point (2,1), path termination should in (2,1) and thereafter
The point in face is just applicable in camber line turning, therefore needs condition b)；The execution if point of the robot needs in turning point and its front and back stops
Other tasks, and camber line turning cannot stop midway, therefore need condition d)；The practical motion track of camber line turning deviates from original
Path, inside cell lattice are possible to collide if there is robot, and condition e) is that collision control turns to camber line when calculating
Specially treated.
Corresponding U-shaped turning is 4 cells on original path, wherein being steering in the 2nd and the 3rd cell
Point.It is similar with right-angled bend, need to exclude this special turning point of path termination.U-shaped turning can be regarded as two continuously
Camber line turning combination, can be rotated by 90 ° in every headstock direction by a turning point automatic guide vehicle, and here there are two types of
Situation, one is the clockwise of rotation it is identical (be all it is clockwise or all be counterclockwise), after two turning points
Headstock direction before turning to compared to having rotated 180 °, second situation be the clockwise rotated in two turning points on the contrary, through
Headstock direction is identical as before steering after turning to twice.Heretofore described U-shaped turning is the first situation, therefore is in judgement
It is no when being U-shaped turning other than having required continuous two turning points, the direction of steering is also required.It turns with right angle camber line
Similar, 4 points that U-shaped turning is passed through cannot all have other tasks.Similar with the turning of right angle camber line, the track of U-shaped turning is also inclined
Track from original straight line path, as shown in figure 4, needing to check whether two cells on the outside of two turning points have it
His automatic guide vehicle or equipment.Above 5 points are exactly to judge whether several most basic situations in need of consideration that U-shaped can turn,
And may also have other restrictive conditions in actual scene and need to consider, only meet these restrictive conditions could safely into
The U-shaped turning of row can also judge whether the item for meeting the turning of right angle camber line to two turning points if U-shaped cannot turn respectively
Part can also improve steering efficiency.
In the present invention, robot needs to apply to backstage to occupy cell, and each cell synchronization can only a machine
Device people occupies, and logically avoids the collision generated when moving between robot by the occupancy of control unit lattice from the background.This
Application inventors have found that in turning logic, if the next point of turning point is occupied by other robot or automatic guide vehicle,
Whether can when camber line turning can be determined as failure, automatic guide vehicle can select " linear movement+steering " if so verifying.Assuming that having two
A robot A and B is required by identical turning point, and robot A first reaches turning point, then reaches turning point the latter
Point, robot B can only apply to cell where turning point at this time, cannot apply for the cell to turning point the latter point, therefore
Robot B can select linear movement+rotation.In the case where comparing congestion in regional area, which will lead to nearly all
Robot will not all select camber line to turn when turning, but degenerate and be in line+turn to, longer by the time of turning point, aggravate
The degree of congestion phenomenon.
Therefore according to a preferred embodiment of the present invention, it joined the step of camber line turning waits in control process,
When cell (next one position) failure of a point i.e. after automatic guide vehicle application turning point, it can draw automatically to this
Guide-car add a timer, before timing terminates can always repeat application unit lattice until apply successfully, i.e., described in it is next again
Until a position becomes available.
In the case that camber line turning strategy can be such that congestion regions machine does not block, turned when robot turns to using camber line
It is curved, improve averagely current rate.If there is multiple turning points near the operating point for executing other tasks that needs to stop, do not use
It when the strategy, is diverted away from time-consuming and especially grows, will necessarily result in congestion substantially, and can be substantially reduced using the strategy and congestion occur
Probability, improve production efficiency.
Fig. 7 shows automatic guide vehicle 50 according to a further aspect of the present invention.Automatic guide vehicle 50 is shown
Internal part, and the components such as its shell are omitted for clarity.As shown in fig. 7, automatic guide vehicle 50 includes: car body 6；Electricity
Machine (not shown), is installed on the car body；Moving device 1 is coupled with the motor and by the motor driven；Control device
4, it is arranged on the car body, and be configured to execute control method 100 or 200 as described above.
Moving device 1 is mounted on car body 6, is driven by motor such as may include steamboat, crawler belt.In motor and row
Into for example may include retarder between device, amplifying driving force by retarder, reducing revolving speed.
Fig. 8 shows a kind of cargo movement system 300 according to a further aspect of the present invention, comprising: coordinate unit 301；
Automatic guide vehicle 302；Control unit 303, described control unit and the automatic guide vehicle communicate, and control the automatic guidance
Vehicle moves in the coordinate unit, and is configured to execute control method 100 or 200 as described above.
It according to one embodiment of present invention, may include multiple automatic guide vehicles 302 in cargo movement system 300, by controlling
Unit 303 processed to carry out unified planning to the carrying task and transport path of multiple automatic guide vehicles.Certainly, automatic guide vehicle
Also it can have the control unit of oneself on 302.
The invention further relates to a kind of computer readable storage medium, including the computer executable instructions being stored thereon,
The executable instruction implements control method 100 or 200 as described above when being executed by processor.
The block diagram for the computer program product 500 that Fig. 9 is arranged according at least some embodiments of the invention.Signaling bearer is situated between
Matter 502 may be implemented as or including computer-readable medium 506, computer recordable media 508, computer communication media
510 or their combination, configurable processing unit is stored to execute the volume of all or some during being previously described
Cheng Zhiling 504.These instructions may include the one or more for example handled as follows for executing one or more processors
Executable instruction: the next position of the automatic guide vehicle is obtained；Determine whether described the next position is turning point；If described
The next position is non-turning point, controls the automatic guide vehicle straight line and passes through described the next position；If with described the next position
For turning point, controls the automatic guide vehicle and turned in described the next position.
The invention proposes a kind of adaptive camber line turning decision logics, which kind of uses according to real-time status dynamic select
Mode moves through turning point.Camber line turning waiting strategy is had also been proposed to, congestion regions is improved and uses the general of camber line turning
Rate improves system overall operation efficiency.
Below in conjunction with the motion control method of attached drawing 10-19 description according to a second aspect of the present invention.
Existing camber line planning is all based on greatly circular arc or the mode of elliptic arc linking straight line carries out, however circular arc and straight line
It is engaged on angular speed and there is jump, be easy to cause the reduction of control precision is even unstable to cause to skid.It would generally be using big
The method of amplitude reduction linear velocity is connected, and can reduce angular speed jump to a certain extent in this way, but influence efficiency, stability
It is still insufficient.Figure 10 shows such a scheme.Wherein robot is in the eve for entering camber line, linear velocity v, angular speed
It is 0.At the time of into camber line, angular speed is linear velocity v/ arc radius r.Namely robot starts arc track movement
Words, angular speed are v/r from 0 transition, and the speed corresponding to driving wheel also has a jump, be easy to cause control unstable at this time
Fixed, control deviation is excessive.Figure 11 is shown before and after entering circular arc, and the serious speed that the revolver and cruise of robot occur is jumped
Become.Some companies propose the method for camber line turning, and this method is carried out based on the mode of circular arc or elliptic arc linking straight line, is connected
When there is jump on angular speed, be easy to cause the reduction of control precision even unstable to cause to skid.
Figure 12 shows the motion control method 600 of robot according to an embodiment of the invention.As shown in Figure 10, it transports
Flowing control method 600 includes:
In step S601, reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target.It rises
Point coordinate and terminal point coordinate can be the coordinate under physical coordinates system, the coordinate being also possible under logical coordinates system of pulse train.Physical coordinates
System is actual two Dimensional XY direction apart from coordinate system.Logical coordinates system of pulse train is the coordinate system set according to business actual conditions.Show
Example property and not restrictive, the difference of logical coordinates system of pulse train and physical coordinates system can for example be, logical coordinates system of pulse train one
As be using integer as description, such as (1,2), (5,10), and coordinate system direction is not necessarily overlapped with physical coordinates system, and
And the not necessarily common physical unit of the parasang of logical coordinates system of pulse train, but be defined with actual job needs.Therefore
Logical place and physical location can be completely the same, can also both there are certain conversion relations.Under idea of the invention,
Location parameter under logical coordinates system of pulse train is not limited to integer, can also have decimal.These are all within the scope of the present invention.Such as
Fruit has had built up the physical coordinates system in place in advance, and perhaps logical coordinates system of pulse train can be from corresponding file or database
Acquisition.Hereafter it is illustrated by taking physical coordinates system as an example.
In step S602, the robot is planned from the starting point coordinate to the track of the terminal point coordinate, wherein described
The path of track includes the straightway and arc segment of linking, wherein the movement mechanism of the robot is in institute in the track
The transition of speed is not present in the intersection for stating straightway and arc segment.
The movement mechanism of robot is for example including at least two groups wheel, wherein one group of wheel is located at the inside of the track,
Wherein one group of wheel is located at the outside of the track.That is, when the direction of motion observation along robot, it is at least one set of
Wheel is located at left side, and at least one set of wheel is located at right side.According to step S602 so that in the track of planning, robot it is interior
The transition of speed does not occur before and after the straightway and the intersection of arc segment for side wheel and outboard wheels.
In the present invention, " there is no the transition of speed " is meant that the robot before and after entering arc segment from straightway transports
The linear velocity and/or angular speed of motivation structure are reference there is no significantly changing, such as to enter the speed V1 before camber line, into
Speed V2 after entering camber line, the change rate relative to V1 is no more than 20%, perhaps no more than 10% or no more than 5%,
Thinking speed, there is no significantly changing.
In the present invention, " track " of robot also includes at least robot other than including the path curve of robot
Speed planning.And preferred, the displacement curve of speed, angular speed, X-direction and Y-direction including robot.
In step S603, controls the robot and moved according to the track of the planning.
Figure 13 shows the principle and effect of motion control method 600 of the invention.In the step S602 of method 600,
The planning of movement is conducive to reduce control so that in the straightway of path curve and the intersection of arc segment there is no the transition of speed
Deviation processed reduces impact.In contrast, the track that motion control method shown in Figure 11 obtains, coaxial two wheels robot exist
When into circular arc and leaving circular arc, apparent transition is had occurred in speed.This be considered as it is unfavorable, will affect control deviation,
Generate impact.
The planning robot in accordance with a preferred embodiment of the present invention is described below from the starting point coordinate to described
The method of the track of terminal point coordinate.
Motion control method 600 further includes receiving linear velocity V, and V is robot at the uniform velocity from described in starting point coordinate arrival
The speed of terminal point coordinate.Wherein the step S602 of the planned trajectory includes:
In step S6021, multiple characteristic time points are calculated.This multiple characteristic time point is located at reaches home from starting point coordinate
On the period of coordinate, including both ends.
In step S6022, the acceleration and angular acceleration of the robot are calculated according to the multiple characteristic time point.
In step S6023, the track is calculated according to the acceleration, angular acceleration.
A preferred embodiment according to the present invention, when multiple characteristic time points in step S6021 include 16 features
Between point T0-T15, be respectively calculated as follows (unit ts):
T0=1；
T1=AccMax/Jerk/ts+T0；
T2=vMax/AccMax/ts+T0；
T3=T2+T1-T0；
T4=T3+floor ((x_target-0.8305)/vMax/ts+0.5)；
T5=omgAccMax/omgJerk/ts+T4；
T6=omgMax/omgAccMax/ts+T4；
T7=T6+T5-AT0；
T8=targetOmg/omgMax/ts+T4；
T9=T8+T5-T4；
T10=T8+T6-T4；
T11=T8+T7-T4；
T12=T11+1+floor ((y_target-0.8305)/vMax/ts+0.5)；
T13=T4+T1-T0；
T14=T4+T2-T0；
T15=T4+T3-T0；
Wherein ts is the sampling period, and track maximum speed vMax=linear velocity V, AccMax are track maximum acceleration value,
Jerk is track maximum jerk value, and omgMax is arc maximum angular rate, and omgAccMax is arc maximum angular acceleration,
OmgJerk is arc maximum angular acceleration, and targetOmg is camber line radian, and floor is bracket function, such as is rounded downwards.
Wherein in accordance with a preferred embodiment of the present invention, track maximum acceleration value AccMax=vMax*5, track are maximum
Jerk value Jerk=AccMax/ts/10；Arc maximum angular rate omgMax=50/180*pi；Arc maximum angular acceleration
OmgAccMax=omgMax*2；Arc maximum angular acceleration omgJerk=omgAccMax/ts/20；TargetOmg=
0.5*pi is 90 degree of camber lines.Wherein, AccMax, Jerk, omgMax, omgAccMax, omgJerk can be constant, can also be with
Its fixed value is not limited, is inputted as desired as module.
Wherein in accordance with a preferred embodiment of the present invention, the step of acceleration and angular acceleration of calculating robot includes:
According to current t moment and last moment accn-1Iterate to calculate current time acceleration accn, according to current t moment and upper a period of time
Carve angleaccn-1Iterate to calculate current time angular acceleration angleaccn, specific calculation is as follows:
Wherein in accordance with a preferred embodiment of the present invention, the movement mechanism of robot includes at least two groups wheel, wherein one
Group wheel is located at the inside of the track, wherein one group of wheel is located at the outside of the track.That is, when along robot
The direction of motion observation when, at least one set of wheel is located at left side, and at least one set of wheel is located at right side.Figure 14 is according to above-mentioned formula
The acceleration of calculated left and right wheels or left and right motor.
A wherein preferred embodiment according to the present invention, the step of calculating track include: to be accelerated according to acceleration and angle
Degree, is calculated track using following formula:
Wherein thetanAngle value, i.e. AGV at a time towards angle.The state packet of Agv at a time
Include such as position X, Y and towards angle theta.The track of planning be exactly be X, Y, thetanTo the relationship of time.
Figure 15 a-15b is shown according to the calculated track of above-mentioned formula.Wherein Figure 15 a shows X-coordinate and Y-direction
Grid Track, Figure 15 b show the displacement of displacement and Y-direction at any time of X-direction at any time.
According to Figure 15 b, it is based on track obtained, the rate curve of available robot left and right wheels, as shown in figure 16.
From the figure, it can be seen that there is no transition for the speed of left and right wheels when entering camber line.
The above is illustrated by taking the camber line of targetOmg=0.5*pi i.e. 90 degree as an example.It can be according to specific demand
Setting, such as enable targetOmg=0.5*pi, i.e., it is realized and is turned with 180 degree camber line, as shown in figure 17.
It is calculated in above embodiments to three ranks, i.e. highest calculating to maximum jerk value and maximum angular acceleration
Value.In practice, in order to realize finer motion control, higher order can be calculated, i.e. most greatly jerk value and maximum
Angle angle magnitude of angular velocity.These are within.
The invention further relates to a kind of motion control apparatus for robot, comprising:
The unit of reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target；
The robot is planned from the starting point coordinate to the unit of the track of the terminal point coordinate, wherein the track
Path includes the straightway and arc segment of linking, wherein the movement mechanism of the robot is in the straight line in the track
The transition of speed is not present in the intersection of section and arc segment；With
Control the unit that the robot is moved according to the planned trajectory.
Figure 18 shows a kind of automated storage and retrieval system 700 according to an embodiment of the invention.As shown in figure 18, automatic storehouse
Storage system 700 includes: one or more automatic guide vehicles 701 and control unit 702, control unit 702 and automatic guide vehicle
701 communications, and be configured to execute motion control method 600 as described above.Control unit 702 can pass through with automatic guide vehicle
It is wirelessly communicated, such as passes through the various modes such as 2G, GPRS, EDGE, 3G, 4G, 5G, WIFI, bluetooth, ZIGBEE
To be attached communication.
Figure 19 shows a kind of block diagram of computer program product 800 according to the present invention.Signal bearing medium 802 can be with
Be implemented as or including computer-readable medium 806, computer recordable media 808, computer communication media 810 or it
Combination, store configurable processing unit with execute be previously described during the programming instruction 804 of all or some.
These instructions may include the one or more executable instructions for example handled as follows for executing one or more processors:
Reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target；Plan the robot from described
Point coordinate is to the track of the terminal point coordinate, wherein the path of the track includes the straightway and arc segment of linking, the rail
In mark, the transition of speed is not present in the straightway and the intersection of arc segment for the movement mechanism of the robot；And control
The robot is moved according to the track of the planning.
The embodiment provides a kind of planing methods of a kind of arc trajectory, and track is not jumped continuously in time
Become, the stability of motion control is high, and precision is high.In arc trajectory, the linear velocity of robot mass center is fixed, angular speed geometric locus
It is S-type at any time, smoothly.In arc trajectory, the speed trajectory curve of robotically-driven wheel is S-type, smoothly.The arc trajectory exists
90 degree may be implemented in grid coordinate system smoothly to turn, the U-shaped turning of 180 degree.
Differential AGV can use left and right wheels speed smooth transition.Start time to finish time, discrete interval do not have big model
Enclose jump.
It will be understood by those skilled in the art that the motion control method 600 of second aspect of the present invention can be applied to this hair
The control method 100 and 200 of the automatic guide vehicle of bright first aspect.For example, in control method 100, in step S104, if
Described the next position is turning point, controls the automatic guide vehicle and is turned in described the next position.Such as it can input and turn
Curved beginning and end, the trajectory planning turned by motion control method 600 plan the automatic guide vehicle from institute
Starting point coordinate is stated to the track of the terminal point coordinate, wherein the path of the track includes the straightway and arc segment of linking,
In in the track, the jump of speed is not present in the straightway and the intersection of arc segment for the movement mechanism of the robot
Become.
Or in Fig. 6, in step S207 and/or S205, the track turned by motion control method 600 is advised
It draws, plans the automatic guide vehicle from the starting point coordinate to the track of the terminal point coordinate, wherein the path of the track is wrapped
The straightway and arc segment of linking are included, wherein the movement mechanism of the robot is in the straightway and arc in the track
The transition of speed is not present in the intersection of line segment.
By taking the turning of right angle camber line as an example, such as in Fig. 3, the starting point of turning can be (or corresponding for cell (1,1)
Physical coordinates), the terminal of turning can be cell (2,2) (or corresponding physical coordinates).By taking U-shaped turning as an example, example
As in Fig. 4, the starting point of turning can be cell (1,1) perhaps (1 2) (or their corresponding physical coordinates), turning
Emphasis can be cell (2,2) or or (2,1) (or their corresponding physical coordinates).
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
Motion control method of the invention can be used for the motion control of the automatic guide vehicle AGV in automated storage and retrieval system.This
Field technical staff is readily appreciated that motion control method of the invention is readily applicable to control other kinds of robot, this
A bit all within the scope of the present invention.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of motion control method of robot, comprising:
Reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target；
The robot is planned from the starting point coordinate to the track of the terminal point coordinate, wherein the path of the track includes rank
The straightway and arc segment connect, in the track, the movement mechanism of the robot is in the boundary of the straightway and arc segment
The transition of speed is not present in place；With
The robot is controlled to move according to the track of the planning.
2. motion control method according to claim 1, which is characterized in that further include receiving linear velocity V, wherein the rule
Draw track the step of include:
Calculate multiple characteristic time points；
The acceleration and angular acceleration of the robot are calculated according to the multiple characteristic time point；With
The track is calculated according to the acceleration, angular acceleration.
3. motion control method according to claim 1 or 2, which is characterized in that the multiple characteristic time point includes 16
A characteristic time point T0-T15,
T0=1；
T1=AccMax/Jerk/ts+T0；
T2=vMax/AccMax/ts+T0；
T3=T2+T1-T0；
T4=T3+floor ((x_target-0.8305)/vMax/ts+0.5)；
T5=omgAccMax/omgJerk/ts+T4；
T6=omgMax/omgAccMax/ts+T4；
T7=T6+T5-AT0；
T8=targetOmg/omgMax/ts+T4；
T9=T8+T5-T4；
T10=T8+T6-T4；
T11=T8+T7-T4；
T12=T11+1+floor ((y_target-0.8305)/vMax/ts+0.5)；
T13=T4+T1-T0；
T14=T4+T2-T0；
T15=T4+T3-T0；
Wherein ts is the sampling period, and track maximum speed vMax=linear velocity V, AccMax are track maximum acceleration value, Jerk
For track maximum jerk value, omgMax is arc maximum angular speed, and omgAccMax is arc maximum angular acceleration, omgJerk
For arc maximum angular acceleration, targetOmg is camber line radian.
4. motion control method according to claim 3, which is characterized in that track maximum acceleration value AccMax=
VMax*5, track maximum jerk value Jerk=AccMax/ts/10；Arc maximum angular rate omgMax=50/180*pi；
Arc maximum angular acceleration omgAccMax=omgMax*2；Arc maximum angular acceleration omgJerk=omgAccMax/ts/
20；TargetOmg=0.5*pi is 90 degree of camber lines.
5. motion control method according to claim 3 or 4, which is characterized in that the acceleration of the calculating robot and
The step of angular acceleration includes: according to current t moment and last moment accn-1Iterate to calculate current time acceleration accn, root
According to current t moment and last moment angleaccn-1Iterate to calculate current time angular acceleration angleaccn,
6. motion control method according to claim 5, which is characterized in that the step of calculating track includes: basis
Track is calculated using following formula in acceleration and angular acceleration:
7. motion control method according to claim 1 to 6, which is characterized in that the fitness machine of the robot
Structure includes at least two groups wheel, wherein one group of wheel is located at the inside of the track, wherein one group of wheel is located at the track
Outside.
8. a kind of motion control apparatus for robot, comprising:
The unit of reception starting point coordinate x_start, y_start and terminal point coordinate x_target, y_target；
The robot is planned from the starting point coordinate to the unit of the track of the terminal point coordinate, wherein the track includes rank
The straightway and arc segment connect, wherein the movement mechanism of the robot is in the straightway and arc segment in the track
Intersection be not present speed transition；With
Control the unit that the robot is moved according to the planned trajectory.
9. one kind is used for automated storage and retrieval system, comprising:
Automatic guide vehicle；With
Control unit communicates with the automatic guide vehicle, and is configured to execute such as movement of any of claims 1-6
Control method.
10. a kind of computer readable storage medium, including the computer executable instructions being stored thereon, the executable instruction
Implement such as control method of any of claims 1-6 when being executed by processor.
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| CN201910257006.XA CN109885070B (en) | 2019-04-01 | 2019-04-01 | Motion control method and motion control equipment of robot and automatic warehousing system |
| PCT/CN2019/087343 WO2019154446A2 (en) | 2019-04-01 | 2019-05-17 | Automated guided vehicle control method, automated guided vehicle and item transportation system |
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