CN110082561A - A kind of detection and its bearing calibration that AGV car body skids - Google Patents
A kind of detection and its bearing calibration that AGV car body skids Download PDFInfo
- Publication number
- CN110082561A CN110082561A CN201910339042.0A CN201910339042A CN110082561A CN 110082561 A CN110082561 A CN 110082561A CN 201910339042 A CN201910339042 A CN 201910339042A CN 110082561 A CN110082561 A CN 110082561A
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- Prior art keywords
- imu
- trolley
- velocity information
- speed
- skids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
Abstract
The present invention relates to AGV trolley fields, and in particular to a kind of detection and bearing calibration that AGV car body skids.First detection of skidding is carried out to trolley by the velocity information of odometer, it skids in order to prevent error detection, the velocity information calculated in conjunction with IMU carries out second and judges, it is compared by the speed of the IMU speed calculated and odometer, complete the detection process that trolley skids, detection time is fast, and it is verified by multi-group data, accuracy is high, the position calculated result of trolley is corrected by IMU velocity information and the comparison of the velocity information of odometer, the accuracy of trolley travelling map is improved, and then guarantees the accuracy of subsequent trolley navigation.
Description
Technical field
The present invention relates to AGV trolley fields, and in particular to a kind of detection and bearing calibration that AGV car body skids.
Background technique
When AGV trolley is during traveling, encountering ground has the wheel wear of water or vehicle to compare serious situation, or
Person face walking Shi Douhui the phenomenon that having skidded on a metal plate, but still the distance that wheel slip rotates can be counted,
The position calculated result for influencing trolley, generally judges whether car body skids by the speed of driving wheel and driven wheel, but needs
Will installation speed detection device again on the driven wheel so that cost increases, furthermore driven wheel is uncontrollable, when judging that car body skids
The case where will appear erroneous judgement, accuracy be not high.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of detection time is fast, accuracy is high, it is ensured that subsequent trolley is led
The detection and bearing calibration that the AGV car body of the accuracy of boat skids.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention to solve the technical problems is:
A kind of detection that AGV car body skids, specific steps include:
S1: the acceleration information of runner angle information and corresponding axis is read by IMU；
S2；Acceleration information is handled, component of the acceleration of gravity in corresponding axis direction is removed；Pass through odometer
Acquire velocity information；
S3: the velocity information of t moment, t+m moment, three moment of t+2m moment is continuously obtained by odometer, while right
The acceleration information that IMU in the time interval m at three moment is read carries out Integral Processing, obtains IMU velocity information；
S4: judging whether the difference between odometer speed and IMU speed is greater than default pose threshold value, is to determine trolley
Runner skids, and otherwise determines that trolley runner is non-slip, trolley continues to travel.
Preferably, the runner is driving wheel or driven wheel.
Preferably, in step s 4, continuously judge whether the difference between odometer speed and IMU speed is greater than default position
Appearance threshold value, if the difference between odometer speed and IMU speed is continuously greater than default pose threshold value three times, then it is assumed that trolley has been beaten
It is sliding.
Preferably, in step S4, if it is determined that trolley runner skids, then IMU velocity information is sent to the control of trolley by IMU
Unit, the control unit on trolley are alarmed.
Preferably, the default pose threshold value is 0.15m/s, 0.2m/s or 0.25m/s.
Preferably, after obtaining the IMU velocity information, calculate difference between odometer speed and IMU speed it
Before, the IMU velocity information is judged whether within the scope of the reliability values that internal register pair should export, and is then determining described
The relative co-ordinate information that IMU velocity information is read is reliable, retains the IMU velocity information, skids for detecting trolley；It is no
Then determine that IMU velocity information is unreliable, deletes the IMU velocity information, is not used for detecting.
The invention also includes the bearing calibrations that a kind of AGV car body skids, and the bearing calibration is based on a kind of AGV
The detection method that car body skids, specific steps include: when the difference between the odometer speed and IMU speed of t moment is less than in advance
If pose threshold value, then map reference is updated using IMU velocity information described in t moment；When the mileage meter speed at continuous three moment
Difference between degree and IMU speed is all larger than default pose threshold value, then the IMU velocity information of t moment is sent to trolley by IMU
Control unit, the control unit on trolley are alarmed, while updating map reference using IMU velocity information described in t moment.
Preferably, further include based on the antidote under the reliability Rule of judgment for weighing IMU velocity information described in 6, when
When the relative co-ordinate information for determining that the IMU velocity information is read is reliable, rectified using the antidote to map coordinate
Just；When the relative co-ordinate information for determining that the IMU velocity information is read is unreliable, map is updated using odometer velocity information
Coordinate.
Beneficial effects of the present invention:
First detection of skidding, error detection of skidding in order to prevent, knot are carried out to trolley by the velocity information of odometer
It closes the velocity information that IMU is calculated and carries out second of judgement, compared by the speed of the IMU speed calculated and odometer, it is complete
At the detection process that trolley skids, detection time is fast, and is verified by multi-group data, and accuracy is high, is believed by IMU speed
The velocity information of breath and odometer compares to correct the position calculated result of trolley, improves the accuracy of trolley travelling map,
And then guarantee the accuracy of subsequent trolley navigation
Detailed description of the invention
Fig. 1 is the detection structure schematic diagram that a kind of AGV car body of the invention skids.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Shown in referring to Fig.1, the detection that a kind of AGV car body skids, specific steps include:
S1: the acceleration information of runner angle information and corresponding axis is read by IMU (inertial navigation resolving unit)；
S2；Acceleration information is handled, component of the acceleration of gravity in corresponding axis direction is removed；Pass through odometer
Acquire velocity information；
S3: the velocity information of t moment, t+m moment, three moment of t+2m moment is continuously obtained by odometer, while right
The acceleration information that IMU in the time interval m at three moment is read carries out Integral Processing, obtains IMU velocity information；
S4: judging whether the difference between odometer speed and IMU speed is greater than default pose threshold value, is to determine trolley
Runner skids, and otherwise determines that trolley runner is non-slip, trolley continues to travel.
First detection of skidding, error detection of skidding in order to prevent, knot are carried out to trolley by the velocity information of odometer
It closes the velocity information that IMU is calculated and carries out second of judgement, compared by the speed of the IMU speed calculated and odometer, it is complete
At the detection process that trolley skids, detection time is fast, and is verified by multi-group data, and accuracy is high, is believed by IMU speed
The velocity information of breath and odometer compares to correct the position calculated result of trolley, improves the accuracy of trolley travelling map,
And then guarantee the accuracy of subsequent trolley navigation.
The numerical value of the time interval m is 25ms-35ms, and the numerical value of the more preferably described time interval m of the present embodiment is
30ms。
The velocity information of IMU velocity information and odometer in continuous acquisition 30ms avoids generating in trolley travelling larger
Speed difference influences the judgement of trolley, greatly by the calculation amount of algorithm, it is easy to accomplish.
The runner is driving wheel or driven wheel.
In step s 4, continuously judge whether the difference between odometer speed and IMU speed is greater than default pose threshold value,
If the difference between odometer speed and IMU speed is continuously greater than default pose threshold value three times, then it is assumed that trolley has skidded.
In step S4, if it is determined that trolley runner skids, then IMU velocity information is sent to the control unit of trolley by IMU
(PLC unit), the control unit on trolley are alarmed.
The default pose threshold value is 0.15m/s, 0.2m/s or 0.25m/s, and the present embodiment is more preferably described default
Pose threshold value is 0.2m/s.
After obtaining the IMU velocity information, before calculating the difference between odometer speed and IMU speed, judgement
Whether the IMU velocity information is the then determining IMU speed within the scope of the reliability values that internal register pair should export
The relative co-ordinate information that information is read is reliable, retains the IMU velocity information, skids for detecting trolley；Otherwise it determines
IMU velocity information is unreliable, deletes the IMU velocity information, is not used for detecting.
The invention also includes the bearing calibrations that a kind of AGV car body skids, and the bearing calibration is based on a kind of AGV
The detection method that car body skids, specific steps include: when the difference between the odometer speed and IMU speed of t moment is less than in advance
If pose threshold value, then map reference is updated using IMU velocity information described in t moment；When the mileage meter speed at continuous three moment
Difference between degree and IMU speed is all larger than default pose threshold value, then the IMU velocity information of t moment is sent to trolley by IMU
Control unit, the control unit on trolley are alarmed, while updating map reference using IMU velocity information described in t moment.
Antidote under reliability Rule of judgment based on IMU velocity information described in power 6 further includes, described in determination
When the relative co-ordinate information that IMU velocity information is read is reliable, corrected using the antidote to map coordinate；Work as determination
When the relative co-ordinate information that the IMU velocity information is read is unreliable, map reference is updated using odometer velocity information.
The invention also includes a kind of map reference correcting methods, comprising steps of being sentenced using the bearing calibration that AGV car body skids
Whether disconnected trolley skids；When any time judging that the trolley is skidded, the trolley is recorded
The time persistently skidded；The time persistently skidded according to the trolley entangles the map reference of the trolley
Just.
The invention also includes a kind of map reference correcting devices, which is characterized in that including processor, memory and storage
In the memory and it is configured as the computer program executed by the processor, the processor executes the computer
Map reference correcting method is realized when program.
The invention also includes a kind of computer readable storage mediums, which is characterized in that the computer readable storage medium
Computer program including storage, wherein control the computer readable storage medium institute in computer program operation
Map reference correcting method is executed in equipment.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (8)
1. the detection that a kind of AGV car body skids, which is characterized in that specific steps include:
S1: the acceleration information of runner angle information and corresponding axis is read by IMU；
S2；Acceleration information is handled, component of the acceleration of gravity in corresponding axis direction is removed；It is obtained by odometer
To velocity information；
S3: the velocity information of t moment, t+m moment, three moment of t+2m moment is continuously obtained by odometer, while to described
The acceleration information that IMU in the time interval m at three moment is read carries out Integral Processing, obtains IMU velocity information；
S4: judging whether the difference between odometer speed and IMU speed is greater than default pose threshold value, is to determine trolley runner
It skids, otherwise determines that trolley runner is non-slip, trolley continues to travel.
2. the detection that AGV car body as described in claim 1 skids, which is characterized in that the runner is driving wheel or driven wheel.
3. the detection that AGV car body as described in claim 1 skids, which is characterized in that in step s 4, continuously judge odometer
Whether the difference between speed and IMU speed is greater than default pose threshold value, if the difference between odometer speed and IMU speed connects
It is continuous to be greater than default pose threshold value three times, then it is assumed that trolley has skidded.
4. the detection that AGV car body as described in claim 1 skids, which is characterized in that in step S4, if it is determined that trolley runner is beaten
Sliding, then IMU velocity information is sent to the control unit of trolley by IMU, and the control unit on trolley is alarmed.
5. the detection that AGV car body as described in claim 1 skids, which is characterized in that the default pose threshold value is 0.15m/
S, 0.2m/s or 0.25m/s.
6. the detection that AGV car body as described in claim 1 skids, which is characterized in that obtain the IMU velocity information it
Afterwards, before calculating the difference between odometer speed and IMU speed, judge the IMU velocity information whether in internal register
Within the scope of the reliability values of corresponding output, it is that the relative co-ordinate information that then the determining IMU velocity information is read is reliable, retains
The IMU velocity information is skidded for detecting trolley；Otherwise it determines that IMU velocity information is unreliable, deletes the IMU speed
Information is spent, is not used for detecting.
7. the bearing calibration that a kind of AGV car body skids, which is characterized in that the bearing calibration is based on a kind of AGV described in power 1
The detection method that car body skids, specific steps include: when the difference between the odometer speed and IMU speed of t moment is less than in advance
If pose threshold value, then map reference is updated using IMU velocity information described in t moment；When the mileage meter speed at continuous three moment
Difference between degree and IMU speed is all larger than default pose threshold value, then the IMU velocity information of t moment is sent to trolley by IMU
Control unit, the control unit on trolley are alarmed, while updating map reference using IMU velocity information described in t moment.
8. the bearing calibration that AGV car body as claimed in claim 7 skids, which is characterized in that based on IMU speed described in power 6
Antidote under the reliability Rule of judgment of information further includes, when the relative coordinate letter for determining that the IMU velocity information is read
When ceasing reliable, corrected using the antidote to map coordinate；When the opposite seat for determining that the IMU velocity information is read
When marking unreliable information, map reference is updated using odometer velocity information.
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| CN201910339042.0A CN110082561A (en) | 2019-04-25 | 2019-04-25 | A kind of detection and its bearing calibration that AGV car body skids |
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| CN201910339042.0A CN110082561A (en) | 2019-04-25 | 2019-04-25 | A kind of detection and its bearing calibration that AGV car body skids |
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Application publication date: 20190802 |