CN110442137A - Mecanum wheel AGV Automatic Track Finding driving system - Google Patents
Mecanum wheel AGV Automatic Track Finding driving system Download PDFInfo
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- CN110442137A CN110442137A CN201910738606.8A CN201910738606A CN110442137A CN 110442137 A CN110442137 A CN 110442137A CN 201910738606 A CN201910738606 A CN 201910738606A CN 110442137 A CN110442137 A CN 110442137A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of Mecanum wheel AGV Automatic Track Finding driving systems, are related to AGV automatic navigation technology field.The present invention realizes Mecanum wheel AGV and carries out Automatic Track Finding traveling on regulation path with any attitude, solves the problems, such as that Mecanum wheel AGV needs to advance with certain posture along fixed course under specific circumstances.Compared with the existing technology, the present invention is realized Mecanum wheel AGV and is advanced with any attitude along fixed course, increases Mecanum wheel AGV application model；With the good advantage of system compatibility, it can be compatible with currently existing algorithm very well, it is low that system extends difficulty.
Description
Technical field
The present invention relates to AGV automatic navigation technology fields, and in particular to Mecanum wheel AGV Automatic Track Finding driving system.
Background technique
Navigation scheme of the current Mecanum wheel AGV based on magnetic stripe, magnetic nail or colour band is relatively conventional, and AGV can be along regulation
Route moves ahead.But it is often applied only to the traversing and no-radius revolving property of Mecanum wheel AGV, omnidirectional in the plane having
Mobility does not perform to ultimate attainment.In current flexible manufacturing application, the increase of AGV flexibility can greatly promote production effect
Rate reduces production cost.Such as in large scale equipment assembling process, since the installation of large component leads to the variation of equipment shape,
Requirements at the higher level just are proposed close to the posture in device procedures to AGV, the AGV autonomous tracing in intelligent vehicle of traditional fixed pose has been unable to meet
Using.
Summary of the invention
(1) technical problems to be solved
It is needed under specific circumstances the technical problem to be solved by the present invention is how to solve Mecanum wheel AGV with any
Provide the problem of posture is advanced along fixed course.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of Mecanum wheel AGV Automatic Track Finding driving system, packets
Include navigation path, Mecanum wheel AGV；
Wherein, the navigation path is affixed on ground, makes to be identified by Mecanum wheel AGV；
The Mecanum wheel AGV is for acquiring ground navigation path information and tracking along guidance path forward；
The Mecanum wheel AGV is also used to receiving the instruction required according to a kind of regulation posture along path navigation
Afterwards, the real-time adjustment of car body position, posture is carried out, and it is forward to keep regulation posture to track along guidance path.
Preferably, it is specified that the Mecanum wheel AGV coordinate system itself possessed is referred to as bodywork reference frame；To navigate rail
The coordinate system that mark itself is possessed is referred to as path coordinate system；Mecanum wheel AGV can utilize vertical shift speed v in motiony1、
Transverse moving speed vx1With horizontal plane rotation speed vωVector modulation realize Omni-mobile, wherein vertical shift speed vy1With transverse moving speed
vx1Synthesis realize that the position in the horizontal plane Mecanum wheel AGV is mobile, horizontal plane rotation speed vω1Realize Mecanum wheel
The posture changing of AGV in the horizontal plane；Vertical shift velocity vectorParallel with the axis of ordinates of bodywork reference frame, i.e., vector is in
In bodywork reference frame y-axis；Transverse moving speed vectorParallel with the axis of abscissas of bodywork reference frame, i.e., vector is in car body coordinate
It is in x-axis；The lengthwise travel rate v of the given change in coordinate axis direction along path coordinate systemy2, transverse shifting speed vx2, so that Mike
Na Mu takes turns AGV and travels along navigation path, and only one of them speed is the main travel speed along path direction, and another speed is positive
Friendship is regulated the speed.
Preferably, the Mecanum wheel AGV is receiving the instruction required according to a kind of regulation posture along path navigation
Afterwards, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm, and regulation posture is kept to seek along guidance path
Mark moves ahead.
Preferably, the Mecanum wheel AGV carries out the real-time tune of car body position, posture using resolution of velocity composition algorithm
It is whole specifically: when the x-axis forward direction of the x-axis forward direction of bodywork reference frame and path coordinate system is at 0 degree of angle, to rotate clockwise car body
Coordinate system, rotation angle are given angle ω0, so that expected posture is presented in Mecanum wheel AGV on navigation path, then just
It is equivalent to lengthwise travel rate vy2, transverse shifting speed vx2Corresponding velocity vector It is inverse in bodywork reference frame
Hour hands have rotated given angle ω0, speed is abstracted in bodywork reference frame, path coordinate system；
Assuming that vertical shift velocity vectorIt is (0, y in path coordinate system2), transverse moving speed vectorIn path coordinate system
In be (x2,0)；
Velocity vectorQuadrature component of the resultant vector on the transverse and longitudinal coordinate axis of bodywork reference frame be just wheat
The actual motion speed of Ke Namu wheel AGV；
Coordinate of the resultant vector in path coordinate system be (x2,y2) obtained using Vector Rotation formulaCoordinate of the resultant vector in bodywork reference frame:
y1=y2cosω0+x2sinω0
x1=x2cosω0-y2sinω0
Thus the movement speed that Mecanum wheel AGV should be endowed is obtained:
vy1=y2cosω0+x2sinω0
vx1=x2cosω0-y2sinω0
At this point, Mecanum wheel AGV realizes the real-time tune of car body position, posture with the movement speed that should be endowed
It is whole.
Preferably, the system also includes host computer, the Mecanum wheel AGV receives host computer and requires according to a kind of rule
Determine instruction of the posture along path navigation.
Preferably, the Mecanum wheel AGV carries out the real-time tune of car body position, posture using resolution of velocity composition algorithm
When whole, using resolution of velocity composition algorithm carry out x-axis forward direction of the real-time adjustment of car body position, posture based on bodywork reference frame with
The x-axis forward direction of path coordinate system atThis relationship is made.
Preferably, the Mecanum wheel AGV carries out the real-time tune of car body position, posture using resolution of velocity composition algorithm
When whole, using resolution of velocity composition algorithm carry out x-axis forward direction of the real-time adjustment of car body position, posture based on bodywork reference frame with
The x-axis forward direction of path coordinate system is made at this relationship of π.
Preferably, the Mecanum wheel AGV carries out the real-time tune of car body position, posture using resolution of velocity composition algorithm
When whole, using resolution of velocity composition algorithm carry out x-axis forward direction of the real-time adjustment of car body position, posture based on bodywork reference frame with
The x-axis forward direction of path coordinate system atThis relationship is made.
(3) beneficial effect
The present invention realizes Mecanum wheel AGV and carries out Automatic Track Finding traveling on regulation path with any attitude, solves
Mecanum wheel AGV needs the problem of advancing with certain posture along fixed course under specific circumstances.Compared with the existing technology,
The present invention is realized Mecanum wheel AGV and is advanced with any attitude along fixed course, and Mecanum wheel AGV application mould is increased
Formula；With the good advantage of system compatibility, it can be compatible with currently existing algorithm very well, it is low that system extends difficulty.
Detailed description of the invention
Fig. 1 is bodywork reference frame and path coordinate system relation schematic diagram；
Fig. 2 be after bodywork reference frame in Fig. 1 is selected clockwise with path relation coordinate system relation schematic diagram；
Fig. 3 is the bodywork reference frame and path coordinate system relation schematic diagram that will be obtained after the whole rotation counterclockwise of Fig. 2；
A, b are coordinate of the velocity composite vector respectively in path coordinate system and bodywork reference frame respectively in Fig. 4.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
A kind of Mecanum wheel AGV Automatic Track Finding driving system provided by the invention, comprising: navigation path, Mecanum
Take turns AGV, host computer；
Wherein, the navigation path is affixed on ground, makes to be identified by Mecanum wheel AGV；
The Mecanum wheel AGV is for acquiring ground navigation path information and tracking along guidance path forward；
The Mecanum wheel AGV is also used to receiving host computer requirement according to a kind of regulation posture along path navigation
After instruction, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm, and keeps regulation posture along navigation road
Diameter tracks forward.
The Mecanum wheel AGV coordinate system itself possessed is referred to as bodywork reference frame；Navigation path itself is gathered around
Some coordinate systems are referred to as path coordinate system；Mecanum wheel AGV can utilize vertical shift speed v in motiony1, transverse moving speed
vx1With horizontal plane rotation speed vωVector modulation realize Omni-mobile, wherein vertical shift speed vy1With transverse moving speed vx1Synthesis
Realize that the position of Mecanum wheel AGV in the horizontal plane is mobile, horizontal plane rotation speed vω1Realize Mecanum wheel AGV in water
Posture changing in plane；
Stipulated that vertical shift velocity vectorParallel with the axis of ordinates of bodywork reference frame, i.e., vector is in bodywork reference frame y
On axis；Transverse moving speed vectorParallel with the axis of abscissas of bodywork reference frame, i.e., vector is in bodywork reference frame x-axis；
The lengthwise travel rate v of the given change in coordinate axis direction (positive or negative) along path coordinate systemy2, transverse shifting speed vx2,
So that Mecanum wheel AGV is travelled along navigation path, only one of them speed is the main travel speed along path direction, another
The speed friendship that is positive is regulated the speed；
During conventional navigation, the x-axis forward direction of the x-axis forward direction of bodywork reference frame and path coordinate system often at 0,π、These four relationships.What is embodied in Fig. 1 is the case where angle is 0.Left side coordinate system is vehicle in Fig. 1, Fig. 2, Fig. 3
Body coordinate system, the right coordinate system are path coordinate system, and rectangular block is Mecanum wheel AGV, and the thick segment intersected with rectangular block is
Navigation path, the arrow parallel with navigation path are car body moving direction.
The Mecanum wheel AGV carries out car body position using resolution of velocity composition algorithm, the real-time of posture adjusts specifically
Are as follows: when the x-axis forward direction of the x-axis forward direction of bodywork reference frame and path coordinate system is at 0 degree of angle, rotate clockwise car body coordinate
System, rotation angle are given angle ω0, so that expected posture is presented in Mecanum wheel AGV on navigation path, as shown in Fig. 2,
So it is equivalent to lengthwise travel rate vy2, transverse shifting speed vx2Corresponding velocity vectorIt is sat in car body
Given angle ω is had rotated counterclockwise in mark system0, as shown in figure 3, speed is abstracted in bodywork reference frame, path coordinate system,
As shown in Figure 4.Wherein solid line coordinate system is bodywork reference frame in Fig. 4, and dotted line coordinate system is path coordinate system, and wherein left figure is stated
For the coordinate in path coordinate system, right part of flg is expressed as the coordinate in bodywork reference frame.
Assuming that vertical shift velocity vectorIt is (0, y in path coordinate system2), transverse moving speed vectorIn path coordinate system
In be (x2,0)；
Velocity vectorQuadrature component of the resultant vector on the transverse and longitudinal coordinate axis of bodywork reference frame be just wheat
Ke Namu takes turns the actual motion speed of AGV, due to horizontal plane rotation speed vω1Vehicle body attitude is only influenced, without influencing car body
Displacement, so be not considered herein；
Coordinate of the resultant vector in path coordinate system be (x2,y2), as stated in Fig. 4, utilize arrow
Amount rotation formula obtainsCoordinate of the resultant vector in bodywork reference frame:
y1=y2cosω0+x2sinω0
x1=x2cosω0-y2sinω0
Thus the movement speed that Mecanum wheel AGV should be endowed is obtained:
vy1=y2cosω0+x2sinω0
vx1=x2cosω0-y2sinω0
At this point, Mecanum wheel AGV realizes the real-time tune of car body position, posture with the movement speed that should be endowed
It is whole.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of Mecanum wheel AGV Automatic Track Finding driving system, which is characterized in that including navigation path, Mecanum wheel
AGV；
Wherein, the navigation path is affixed on ground, makes to be identified by Mecanum wheel AGV；
The Mecanum wheel AGV is for acquiring ground navigation path information and tracking along guidance path forward；
The Mecanum wheel AGV is also used to after receiving the instruction required according to a kind of regulation posture along path navigation, into
The real-time adjustment of driving body position, posture, and it is forward to keep regulation posture to track along guidance path.
2. the system as claimed in claim 1, which is characterized in that the coordinate system that regulation itself is possessed Mecanum wheel AGV
Referred to as bodywork reference frame；The coordinate system that navigation path itself is possessed is referred to as path coordinate system；Mecanum wheel AGV exists
Vertical shift speed v can be utilized when drivingy1, transverse moving speed vx1With horizontal plane rotation speed vωVector modulation realize Omni-mobile,
Wherein vertical shift speed vy1With transverse moving speed vx1Synthesis realize that the position in the horizontal plane Mecanum wheel AGV is mobile, horizontal plane
Rotation speed vω1Realize the posture changing of Mecanum wheel AGV in the horizontal plane；Vertical shift velocity vectorWith bodywork reference frame
Axis of ordinates it is parallel, i.e., vector is in bodywork reference frame y-axis；Transverse moving speed vectorWith the abscissa of bodywork reference frame
Axis is parallel, i.e., vector is in bodywork reference frame x-axis；The lengthwise travel rate of the given change in coordinate axis direction along path coordinate system
vy2, transverse shifting speed vx2, so that Mecanum wheel AGV is travelled along navigation path, only one of them speed is along path side
To main travel speed, the friendship that is positive of another speed regulates the speed.
3. system as claimed in claim 2, which is characterized in that the Mecanum wheel AGV is receiving requirement according to one kind
Posture is provided after the instruction of path navigation, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm, and
Regulation posture is kept to track along guidance path forward.
4. system as claimed in claim 3, which is characterized in that the Mecanum wheel AGV utilizes resolution of velocity composition algorithm
Carry out the real-time adjustment of car body position, posture specifically: when the x-axis forward direction of bodywork reference frame and the x-axis of path coordinate system are positive
When at 0 degree of angle, bodywork reference frame is rotated clockwise, rotation angle is given angle ω0, so that Mecanum wheel AGV is being led
Expected posture is presented on boat track, then being equivalent to lengthwise travel rate vy2, transverse shifting speed vx2Corresponding speed
VectorHave rotated given angle ω counterclockwise in bodywork reference frame0, speed is abstracted in bodywork reference frame, path
In coordinate system；
Assuming that vertical shift velocity vectorIt is (0, y in path coordinate system2), transverse moving speed vectorIt is in path coordinate system
(x2,0)；
Velocity vectorQuadrature component of the resultant vector on the transverse and longitudinal coordinate axis of bodywork reference frame just received for Mike
The actual motion speed of nurse wheel AGV；
Coordinate of the resultant vector in path coordinate system be (x2,y2) obtained using Vector Rotation formulaCoordinate of the resultant vector in bodywork reference frame:
y1=y2cosω0+x2sinω0
x1=x2cosω0-y2sinω0
Thus the movement speed that Mecanum wheel AGV should be endowed is obtained:
vy1=y2cosω0+x2sinω0
vx1=x2cosω0-y2sinω0
At this point, Mecanum wheel AGV realizes the real-time adjustment of car body position, posture with the movement speed that should be endowed.
5. the system as claimed in claim 1, which is characterized in that the system also includes host computer, the Mecanum wheel AGV
Host computer is received to require to provide posture along the instruction of path navigation according to a kind of.
6. system as claimed in claim 3, which is characterized in that the Mecanum wheel AGV utilizes resolution of velocity composition algorithm
When carrying out the real-time adjustment of car body position, posture, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm
The x-axis forward direction of x-axis forward direction and path coordinate system based on bodywork reference frame atThis relationship is made.
7. system as claimed in claim 3, which is characterized in that the Mecanum wheel AGV utilizes resolution of velocity composition algorithm
When carrying out the real-time adjustment of car body position, posture, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm
The x-axis forward direction of x-axis forward direction and path coordinate system based on bodywork reference frame is made at this relationship of π.
8. system as claimed in claim 3, which is characterized in that the Mecanum wheel AGV utilizes resolution of velocity composition algorithm
When carrying out the real-time adjustment of car body position, posture, the real-time adjustment of car body position, posture is carried out using resolution of velocity composition algorithm
The x-axis forward direction of x-axis forward direction and path coordinate system based on bodywork reference frame atThis relationship is made.
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| CN201910738606.8A CN110442137A (en) | 2019-08-12 | 2019-08-12 | Mecanum wheel AGV Automatic Track Finding driving system |
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| CN201910738606.8A CN110442137A (en) | 2019-08-12 | 2019-08-12 | Mecanum wheel AGV Automatic Track Finding driving system |
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| CN109885049A (en) * | 2019-02-12 | 2019-06-14 | 北京航空航天大学 | A kind of las er-guidance AGV based on dead reckoning builds figure and route matching method automatically |
| CN109976372A (en) * | 2019-04-24 | 2019-07-05 | 重庆大学 | A kind of 4 wheel driven AGV Attitude control model based on magnetic navigation |
-
2019
- 2019-08-12 CN CN201910738606.8A patent/CN110442137A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017010292A (en) * | 2015-06-23 | 2017-01-12 | 株式会社明電舎 | Agv orbit calculation device and method |
| CN106681317A (en) * | 2016-11-27 | 2017-05-17 | 北京特种机械研究所 | AGV omnidirectional navigation-based driving method |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN106708056A (en) * | 2017-02-13 | 2017-05-24 | 四川超影科技有限公司 | Motion control method of four-Mecanum wheel inspection robot |
| CN109885049A (en) * | 2019-02-12 | 2019-06-14 | 北京航空航天大学 | A kind of las er-guidance AGV based on dead reckoning builds figure and route matching method automatically |
| CN109976372A (en) * | 2019-04-24 | 2019-07-05 | 重庆大学 | A kind of 4 wheel driven AGV Attitude control model based on magnetic navigation |
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Application publication date: 20191112 |