CN110647153A - Unmanned transport vehicle simulation method and device based on steering wheel offset distance and computer equipment - Google Patents
Unmanned transport vehicle simulation method and device based on steering wheel offset distance and computer equipment Download PDFInfo
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Abstract
The invention provides a method, a device and computer equipment for simulating an unmanned carrying vehicle based on steering wheel offset distance, which relate to the technical field of simulation of the unmanned carrying vehicle and comprise the following steps: acquiring a lateral offset distance of a steering wheel of an unmanned transport vehicle, wherein the lateral offset distance of the steering wheel is used for indicating the installation error of the unmanned transport vehicle; determining an operation parameter of the unmanned transport vehicle in actual operation; and controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the transverse offset distance of the steering wheel. The method realizes that the model of the automated guided vehicle is closer to the actual automated guided vehicle terminal, the simulation precision is higher, and the problem of simulation distortion is avoided.
Description
Technical Field
The invention relates to the technical field of simulation of an unmanned conveying vehicle, in particular to a method and a device for simulating the unmanned conveying vehicle based on steering wheel offset distance and computer equipment.
Background
Automated Guided Vehicle (abbreviation for Automated Guided Vehicle), meaning: an automated guided vehicle or an automated guided vehicle is a vehicle equipped with an electromagnetic or optical automated guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.
In the prior art, the simulation tool for the automated guided vehicle realizes simulation by adopting a script writing method, has higher requirements on simulation operators, and the automated guided vehicle in the prior simulation tool performs route operation simulation in a particle mode, so that accidents such as scraping and the like are easy to occur in a scheduling process due to insufficient simulation precision.
Disclosure of Invention
The invention aims to provide a method, a device and computer equipment for simulating an unmanned transport vehicle based on steering wheel offset distance, so as to solve the problems of high simulation requirement and insufficient simulation precision of the existing unmanned transport vehicle simulation tool.
The invention provides an unmanned carrier simulation method based on steering wheel offset, which is applied to an unmanned carrier simulation control platform and comprises the following steps:
acquiring a lateral offset distance of a steering wheel of an unmanned transport vehicle, wherein the lateral offset distance of the steering wheel is used for indicating the installation error of the unmanned transport vehicle;
determining an operation parameter of the unmanned transport vehicle in actual operation;
and controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the transverse offset distance of the steering wheel.
In one optional implementation, the step of determining an operating parameter of the automated guided vehicle when actually operating includes:
periodically determining an operating parameter of the automated guided vehicle when the automated guided vehicle is actually operated.
In one optional implementation, the step of obtaining a lateral offset of a steering wheel of the automated guided vehicle includes:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
In one optional implementation, the step of controlling a simulation model to simulate an actual operating state of the automated guided vehicle based on the operating parameters and the lateral offset of the steering wheel comprises:
calculating the coordinates of the circle center according to the current vehicle coordinates, the current steering wheel coordinates, the current vehicle body angle, the current steering wheel angle, the vehicle wheelbase and the lateral offset of the steering wheel; the operating parameters comprise the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle and the current steering wheel angle; drawing a first straight line which is vertical to the steering wheel and passes through the coordinate of the steering wheel in the direction corresponding to the current steering wheel angle; drawing another second straight line which is perpendicular to the two driven wheels and passes through the current vehicle coordinate, wherein the intersection point of the first straight line and the second straight line is the circle center coordinate;
and if the circle center coordinate does not exist, determining the vehicle coordinate at the next moment according to the current vehicle coordinate, the current vehicle body angle and the speed.
In one optional implementation, the method further comprises:
if the circle center coordinate exists, a first circle radius of the current vehicle coordinate is obtained according to the circle center coordinate and the current vehicle coordinate, and a second circle radius is obtained according to the circle center coordinate and the current steering wheel coordinate;
when the first circle radius is smaller than 0.5mm, determining that the unmanned transport vehicle is in pivot steering, and calculating a vehicle body angle;
when the radius of the first circle is larger than 0.5mm, determining that the unmanned transport vehicle is in an arc line, and calculating a vehicle body angle and a current vehicle coordinate according to the current vehicle angle variation and the current steering wheel angle variation; the current vehicle angle variation is determined according to a current vehicle starting angle and the current angle variation, and the current steering wheel angle variation is determined according to the steering wheel starting angle and the current angle variation.
In a second aspect, there is provided an automated guided vehicle simulation apparatus including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the lateral offset of a steering wheel of the unmanned transport vehicle, and the lateral offset of the steering wheel is used for indicating the installation error of the unmanned transport vehicle;
the determination module is used for determining the operation parameters of the unmanned transport vehicle in actual operation;
and the control module is used for controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the transverse offset distance of the steering wheel.
In an optional implementation, the determining module is specifically configured to:
periodically determining an operating parameter of the automated guided vehicle when the automated guided vehicle is actually operated.
In an optional implementation, the obtaining module is specifically configured to:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
In an optional implementation, the control module is specifically configured to:
calculating the coordinates of the circle center according to the current vehicle coordinates, the current steering wheel coordinates, the current vehicle body angle, the current steering wheel angle, the vehicle wheelbase and the lateral offset of the steering wheel; the operating parameters comprise the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle and the current steering wheel angle; drawing a first straight line which is vertical to the steering wheel and passes through the coordinate of the steering wheel in the direction corresponding to the current steering wheel angle; drawing another second straight line which is perpendicular to the two driven wheels and passes through the current vehicle coordinate, wherein the intersection point of the first straight line and the second straight line is the circle center coordinate;
and if the circle center coordinate does not exist, determining the coordinate of the automated guided vehicle at the current moment according to the speed.
In an optional implementation, the control module is specifically configured to:
if the circle center coordinate exists, a first circle radius of the current vehicle coordinate is obtained according to the circle center coordinate and the current vehicle coordinate, and a second circle radius is obtained according to the circle center coordinate and the current steering wheel coordinate;
when the first circle radius is smaller than 0.5mm, determining that the unmanned transport vehicle is in pivot steering, and calculating a vehicle body angle;
when the radius of the first circle is larger than 0.5mm, determining that the unmanned transport vehicle is in an arc line, and calculating a vehicle body angle and a current vehicle coordinate according to the current vehicle angle variation and the current steering wheel angle variation; the current vehicle angle variation is determined according to a current vehicle starting angle and the current angle variation, and the current steering wheel angle variation is determined according to the steering wheel starting angle and the current angle variation.
The invention also provides computer equipment, which comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when the unmanned transport vehicle simulation device runs, the processor and the memory are communicated through the bus, and the processor executes the machine readable instructions to execute the steps of any one of the unmanned transport vehicle simulation method based on the offset of the steering wheel.
The present invention also provides a storage medium having a computer program stored thereon, the computer program being executable by a processor to perform the steps of any one of the above-described methods for simulating an automated guided vehicle based on rudder wheel offset.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for simulating an automated guided vehicle based on a rudder wheel offset according to an embodiment of the present invention;
FIG. 3 is an example of actual operating state determination provided by the present invention for an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automated guided vehicle simulation apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The unmanned transport vehicle simulation tool realizes simulation by adopting a script compiling method, has higher requirements on simulation operators, and the existing simulation tool carries out route operation simulation in a particle mode, so that accidents such as scraping and the like are easy to occur in a scheduling process due to insufficient simulation precision.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention. The scene comprises a monitoring end, a path planning tool, an AGV main server, a database and a simulation AGV (simulation model).
The path planning tool is used for drawing a map, a user draws the positions of a platform, a berth and the like according to a field terrain or cad graph, draws a vehicle walking route according to an actual situation, and then a solution is formed. The server side is started, the established solution is loaded, and the server side is used for assigning the driving route of the vehicles and solving the scheduling among the vehicles. And starting the monitoring terminal, seeing the map configured by the server terminal, and manually dispatching the tasks or automatically dispatching the tasks by the monitoring terminal. And starting the simulation AGV to simulate, wherein the simulation AGV can restore the working mode of the real vehicle.
The embodiment provides a method for simulating an automated guided vehicle based on a rudder wheel offset, which is applied to a platform for simulating and controlling the automated guided vehicle, and as shown in fig. 2, the method includes:
s110, acquiring a lateral offset distance of a steering wheel of the automated guided vehicle, wherein the lateral offset distance of the steering wheel is used for indicating an installation error of the automated guided vehicle;
the transverse offset distance of the steering wheel is that the coordinate of the middle position of two driven wheels of the unmanned carrying vehicle is the current vehicle coordinate, and the middle position of the steering wheel is the current steering wheel coordinate. The actual unmanned carrier has installation errors in the carrier body, so that the position of the steering wheel and the middle position of the two driven wheels are not necessarily on the same straight line, and the steering wheel transverse offset is defined as the steering wheel transverse offset.
S120, determining operation parameters of the unmanned transport vehicle in actual operation;
and S130, controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the lateral offset of the steering wheel.
The simulated Automated Guided Vehicle (AGV) has parameters such as vehicle length, vehicle width, vehicle height, wheel base, laser head position, steering wheel offset, acceleration, deceleration and the like. By setting these parameters, the mathematical model of the AGV is abstracted. The motion mode of the simulation model is the same as that of a real AGV. Taking a three-wheel driving/steering laser forklift AGV as an example, when the simulation AGV steers, the steering wheel controls the steering angle and the traveling speed, and the driven wheel assists the steering wheel to steer.
In some embodiments, the step S120 may specifically include:
the operating parameters of the automated guided vehicle in actual operation are periodically determined.
In some embodiments, the S110 may specifically include:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
For the above S130, the automated guided vehicle simulated motion resembles an animation display principle. The animation is a picture which is continuously shot into a series of pictures by a camera to cause continuous change to vision by decomposing the expression, action, change and the like of a character and then drawing the pictures into a plurality of pictures with instantaneous actions. The current position of the unmanned transport vehicle is calculated and displayed at intervals, and the motion trail of the unmanned transport vehicle is simulated by using the time continuation.
In some embodiments, the S130 may specifically include:
calculating the coordinates of the circle center according to the current vehicle coordinates, the current steering wheel coordinates, the current vehicle body angle, the current steering wheel angle, the vehicle wheelbase and the lateral offset of the steering wheel; the operating parameters comprise the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle and the current steering wheel angle; drawing a first straight line which is vertical to the steering wheel and passes through the coordinate of the steering wheel in the direction corresponding to the current steering wheel angle; drawing another second straight line which is perpendicular to the two driven wheels and passes through the current vehicle coordinate, wherein the intersection point of the first straight line and the second straight line is the circle center coordinate;
and if the circle center coordinate does not exist, determining the vehicle coordinate at the next moment according to the current vehicle coordinate, the current vehicle body angle and the speed.
In some embodiments, if the center of the circle is found, the vehicle is instructed to turn. The current vehicle coordinate, the radius of the circle with the circle center, the steering wheel coordinate and the radius of the circle with the circle center can be obtained. The steering angle of the steering wheel can be obtained according to the angular velocity by obtaining the angular velocity of the circle where the current vehicle is located. If the angle is 90 degrees, only the body angle needs to be calculated. If not, the body angle and the current coordinates of the vehicle are calculated. As an example, the S130 further includes:
if the circle center coordinate exists, a first circle radius of the current vehicle coordinate is obtained according to the circle center coordinate and the current vehicle coordinate, and a second circle radius is obtained according to the circle center coordinate and the current steering wheel coordinate;
when the first circle radius is smaller than 0.5mm, determining that the unmanned transport vehicle is in pivot steering, and calculating a vehicle body angle;
when the radius of the first circle is larger than 0.5mm, determining that the unmanned transport vehicle is in an arc line, and calculating a vehicle body angle and a current vehicle coordinate according to the current vehicle angle variation and the current steering wheel angle variation; the current vehicle angle variation is determined according to a current vehicle starting angle and the current angle variation, and the current steering wheel angle variation is determined according to the steering wheel starting angle and the current angle variation.
For example, assuming that the steering wheel is turned by an angle α, a straight line is drawn perpendicular to the steering wheel and passes through the steering wheel coordinates. And drawing another straight line to be vertical to the two driven wheels and pass through the current vehicle coordinate. The point where the two straight lines intersect is defined as the center of the circle, as shown in fig. 3. And calculating the circle center coordinate O according to the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle, the current steering wheel angle, the vehicle wheel base and the lateral offset of the steering wheel. If the circle center is not obtained, the vehicle does not turn, and the vehicle runs in a straight line. When the automated guided vehicle travels straight, the coordinates of the automated guided vehicle at the next time can be obtained by using a formula of multiplying the distance by the speed (S ═ VT) according to the coordinates (X, Y) of the automated guided vehicle at the current time. The specific calculation formula of the automated guided vehicle coordinates (X1, Y1) at the next time is (X1, 5Y1) ═ ((X + V Δ T sin α), (Y + V Δ T cos α)). V is the speed of the unmanned transport vehicle, and Delta T is a fixed time period. The straight-line driving track is simulated by the cyclic reciprocating.
For another example, θ 1 represents a current vehicle start angle, θ 2 represents a steering wheel start angle, an angle change Δ θ is a speed V × time T/R2, a current vehicle angle change θ e is θ 1 +. Δ θ, and a current steering wheel angle change θ f is θ 2 +. Δ θ. From this, the vehicle coordinates after a lapse of time are (O.X + R1 × cos θ e,. DELTA. O.Y + R1 × sin θ e), and the steering wheel coordinates after a lapse of time are (O.X + R2 × cos θ e,. DELTA. O.Y + R2 sin θ e).
The process is repeated at intervals to simulate the running track of the vehicle. This allows more accurate simulation than simply setting a delay time for simulation. The device not only can simulate the actions of straight running, steering, backing and the like of a real AGV to the maximum extent, but also can simulate the automatic deviation correction when the real AGV runs.
When the simulation AGV takes and puts the goods, the simulation AGV can display animation effects such as fork lifting, lowering, stretching and withdrawing and the like as the real AGV can carry out, the most real simulation is used for taking and putting the goods, and data such as required action time are calculated according to the lifting height and the lifting speed. The AGV system has complete equipment models such as platforms, shelves, lines and berths, and can simulate a field 1:1 map. The working state of the real AGV is simulated through simulating the walking process and the goods taking and placing process of the AGV, and the real AGV is displayed in real time.
The unmanned carrier simulation operation scheme based on the steering wheel offset provided by the embodiment has the advantages that the unmanned carrier simulation operation scheme is designed to realize that the unmanned carrier model is closer to an actual unmanned carrier terminal, the simulation precision is higher, the scheduling is more accurate, and accidents such as scraping and the like are avoided easily occurring in the scheduling process.
In some embodiments, it may further include:
and acquiring the site data of the automated guided vehicle and inputting the site data into a path planning tool to obtain an automated guided vehicle simulation map.
And acquiring equipment parameters of the unmanned transport vehicle terminal to obtain an unmanned transport vehicle model in the unmanned transport vehicle simulation map, wherein the unmanned transport vehicle model at least comprises the static parameters of the unmanned transport vehicle.
An automated guided vehicle simulated operation scheme is formed in the automated guided vehicle simulation map according to the automated guided vehicle work plan, the automated guided vehicle simulated operation scheme including control instructions for scheduling the automated guided vehicle terminal.
And scheduling the automated guided vehicle terminal according to the automated guided vehicle simulation operation scheme.
And acquiring the operating parameters of the unmanned transport vehicle terminal.
And comparing the operation parameters of the automated guided vehicle terminal with the simulated operation scheme of the automated guided vehicle to obtain the deviation value of the dynamic vehicle parameters of the automated guided vehicle model.
And updating the deviation value to the simulated operation scheme of the automated guided vehicle, and updating a control instruction for dispatching the terminal of the automated guided vehicle.
The method for forming the simulated operation scheme of the automated guided vehicle by matching the automated guided vehicle model with the simulated map of the automated guided vehicle is adopted, and when the operation parameters of the terminal of the automated guided vehicle are compared and the deviation value of the dynamic vehicle parameters of the model of the automated guided vehicle is obtained by the simulated operation scheme of the automated guided vehicle, the deviation value is updated to the simulated operation scheme of the automated guided vehicle, and the control instruction of the terminal of the automated guided vehicle is updated and dispatched, so that the deviation correction of the terminal of the automated guided vehicle can be simply and quickly realized.
In some embodiments, it may further include:
and acquiring the site data of the automated guided vehicle and inputting the site data into a path planning tool to obtain an automated guided vehicle simulation map.
And acquiring equipment parameters of the unmanned transport vehicle terminal to obtain an unmanned transport vehicle model in the unmanned transport vehicle simulation map, wherein the unmanned transport vehicle model at least comprises the static parameters of the unmanned transport vehicle.
An automated guided vehicle simulated operation scheme is formed in the automated guided vehicle simulation map according to the automated guided vehicle work plan, the automated guided vehicle simulated operation scheme including control instructions for scheduling the automated guided vehicle terminal.
And scheduling the automated guided vehicle terminal according to the automated guided vehicle simulation operation scheme.
Loading the simulated operation scheme of the automated guided vehicle to a monitoring end, wherein the monitoring end comprises a display module, and the display module is used for displaying the simulated operation scheme of the automated guided vehicle.
The method for forming the simulated operation scheme of the automated guided vehicle by matching the automated guided vehicle model with the simulated map of the automated guided vehicle is adopted, so that the simulated operation scheme of the automated guided vehicle can be easily and visually displayed through the display module.
In some embodiments, it may further include:
and acquiring the site data of the automated guided vehicle and inputting the site data into a path planning tool to obtain an automated guided vehicle simulation map.
And acquiring equipment parameters of the unmanned transport vehicle terminal to obtain an unmanned transport vehicle model in the unmanned transport vehicle simulation map, wherein the unmanned transport vehicle model at least comprises the static parameters of the unmanned transport vehicle.
An automated guided vehicle simulated operation scheme is formed in the automated guided vehicle simulation map according to the automated guided vehicle work plan, the automated guided vehicle simulated operation scheme including control instructions for scheduling the automated guided vehicle terminal.
And scheduling the automated guided vehicle terminal according to the automated guided vehicle simulation operation scheme.
Loading the simulated operation scheme of the automated guided vehicle to a monitoring end, wherein the monitoring end comprises a control module, and the control module is used for sending an update instruction to the automated guided vehicle terminal.
Due to the adoption of the method for forming the simulation operation scheme of the automated guided vehicle by matching the automated guided vehicle model with the simulation map of the automated guided vehicle, the control instruction or the updating instruction can be directly sent to the terminal of the automated guided vehicle through the control module of the monitoring terminal and fed back to the display module.
In some embodiments, it may further include:
and acquiring the site data of the automated guided vehicle and inputting the site data into a path planning tool to obtain an automated guided vehicle simulation map.
And acquiring equipment parameters of the automated guided vehicle terminal to obtain an automated guided vehicle model in the automated guided vehicle simulation map, wherein the automated guided vehicle model at least comprises the static parameters of the automated guided vehicle and the dynamic vehicle parameters of the automated guided vehicle.
An automated guided vehicle simulated operation scheme is formed in the automated guided vehicle simulation map according to the automated guided vehicle work plan, the automated guided vehicle simulated operation scheme including control instructions for scheduling the automated guided vehicle terminal.
And scheduling the automated guided vehicle terminal according to the automated guided vehicle simulation operation scheme.
And acquiring the operating parameters of the unmanned transport vehicle terminal.
And forming an automated guided vehicle prediction scheme according to the automated guided vehicle simulation operation scheme comprising the dynamic vehicle parameters of the automated guided vehicle and the operation parameters of the obtained automated guided vehicle terminal.
The method for forming the simulated operation scheme of the automated guided vehicle by matching the automated guided vehicle model with the automated guided vehicle simulation map can obtain the operation parameters of the automated guided vehicle terminal, and form the prediction scheme of the automated guided vehicle according to the simulated operation scheme of the automated guided vehicle comprising the dynamic vehicle parameters of the automated guided vehicle and the obtained operation parameters of the automated guided vehicle terminal.
Fig. 4 is a schematic structural diagram of an automated guided vehicle simulation apparatus according to this embodiment. As shown in fig. 4, the apparatus may include:
an obtaining module 301, configured to obtain a lateral offset distance of a steering wheel of an automated guided vehicle, where the lateral offset distance of the steering wheel is used to indicate an installation error of the automated guided vehicle;
a determining module 302, configured to determine an operation parameter of the automated guided vehicle during actual operation;
and the control module 303 is configured to control a simulation model to simulate an actual operation state of the automated guided vehicle according to the operation parameter and the lateral offset of the steering wheel.
In an optional implementation, the determining module 302 is specifically configured to:
periodically determining an operating parameter of the automated guided vehicle when the automated guided vehicle is actually operated.
In an optional implementation, the obtaining module 301 is specifically configured to:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
In an optional implementation, the control module 303 is specifically configured to:
calculating the coordinates of the circle center according to the current vehicle coordinates, the current steering wheel coordinates, the current vehicle body angle, the current steering wheel angle, the vehicle wheelbase and the lateral offset of the steering wheel; the operating parameters comprise the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle and the current steering wheel angle; drawing a first straight line which is vertical to the steering wheel and passes through the coordinate of the steering wheel in the direction corresponding to the current steering wheel angle; drawing another second straight line which is perpendicular to the two driven wheels and passes through the current vehicle coordinate, wherein the intersection point of the first straight line and the second straight line is the circle center coordinate;
and if the circle center coordinate does not exist, determining the coordinate of the automated guided vehicle at the current moment according to the speed.
In an optional implementation, the control module 303 is specifically configured to:
if the circle center coordinate exists, a first circle radius of the current vehicle coordinate is obtained according to the circle center coordinate and the current vehicle coordinate, and a second circle radius is obtained according to the circle center coordinate and the current steering wheel coordinate;
when the first circle radius is smaller than 0.5mm, determining that the unmanned transport vehicle is in pivot steering, and calculating a vehicle body angle;
when the radius of the first circle is larger than 0.5mm, determining that the unmanned transport vehicle is in an arc line, and calculating a vehicle body angle and a current vehicle coordinate according to the current vehicle angle variation and the current steering wheel angle variation; the current vehicle angle variation is determined according to a current vehicle starting angle and the current angle variation, and the current steering wheel angle variation is determined according to the steering wheel starting angle and the current angle variation.
As shown in fig. 5, an embodiment of the present application provides a computer device 800, including: the system comprises a processor 801, a memory 802 and a bus, wherein the memory 802 stores machine readable instructions executable by the processor 801, when the electronic device runs, the processor 801 and the memory 802 communicate through the bus, and the processor 801 executes the machine readable instructions to execute the steps of the unmanned transport vehicle simulation method based on the offset distance of the steering wheel.
Specifically, the memory 802 and the processor 801 may be general-purpose memories and processors, which are not specifically limited herein, and when the processor 801 runs a computer program stored in the memory 802, the above-described method for simulating an automated guided vehicle based on a rudder wheel offset may be performed.
Those skilled in the art will appreciate that the configuration of the computer device shown in fig. 5 does not constitute a limitation of the computer device and may include more or fewer components than shown, or some components may be combined, or some components may be split, or a different arrangement of components.
In some embodiments, the computer device may further include a touch screen operable to display a graphical user interface (e.g., a launch interface for an application) and receive user operations with respect to the graphical user interface (e.g., launch operations with respect to the application). A particular touch screen may include a display panel and a touch panel. The Display panel may be configured in the form of an LCD (liquid crystal Display), an OLED (Organic Light-Emitting Diode), and the like. The touch panel may collect contact or non-contact operations on or near the touch panel by a user and generate preset operation instructions, for example, operations of the user on or near the touch panel using any suitable object or accessory such as a finger, a stylus, etc. In addition, the touch panel may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction and gesture of a user, detects signals brought by touch operation and transmits the signals to the touch controller; the touch controller receives touch information from the touch detection device, converts the touch information into information capable of being processed by the processor, sends the information to the processor, and receives and executes commands sent by the processor. In addition, the touch panel may be implemented by various types such as a resistive type, a capacitive type, an infrared ray, a surface acoustic wave, and the like, and may also be implemented by any technology developed in the future. Further, the touch panel may overlay the display panel, a user may operate on or near the touch panel overlaid on the display panel according to a graphical user interface displayed by the display panel, the touch panel detects an operation thereon or nearby and transmits the operation to the processor to determine a user input, and the processor then provides a corresponding visual output on the display panel in response to the user input. In addition, the touch panel and the display panel can be realized as two independent components or can be integrated.
Corresponding to the starting method of the application program, an embodiment of the application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the method for simulating the automated guided vehicle based on the offset of the steering wheel.
The starting device of the application program provided by the embodiment of the application program can be specific hardware on the device or software or firmware installed on the device. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments provided in the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the mobile control method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the scope of the embodiments of the present application. Are intended to be covered by the scope of the present application.
Claims (10)
1. An unmanned conveying vehicle simulation method based on steering wheel offset distance is applied to an unmanned conveying vehicle simulation control platform and is characterized by comprising the following steps:
acquiring a lateral offset distance of a steering wheel of an unmanned transport vehicle, wherein the lateral offset distance of the steering wheel is used for indicating the installation error of the unmanned transport vehicle;
determining an operation parameter of the unmanned transport vehicle in actual operation;
and controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the transverse offset distance of the steering wheel.
2. The method of claim 1, wherein the step of determining the operating parameters of the automated guided vehicle during actual operation comprises:
periodically determining an operating parameter of the automated guided vehicle when the automated guided vehicle is actually operated.
3. The method of claim 1, wherein the step of obtaining the lateral offset of the steering wheel of the automated guided vehicle comprises:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
4. The method of claim 1, wherein the step of controlling a simulation model to simulate the actual operating state of the automated guided vehicle based on the steering wheel lateral offset and the operating parameters comprises:
calculating the coordinates of the circle center according to the current vehicle coordinates, the current steering wheel coordinates, the current vehicle body angle, the current steering wheel angle, the vehicle wheelbase and the lateral offset of the steering wheel; the operating parameters comprise the current vehicle coordinate, the current steering wheel coordinate, the current vehicle body angle and the current steering wheel angle; drawing a first straight line which is vertical to the steering wheel and passes through the coordinate of the steering wheel in the direction corresponding to the current steering wheel angle; drawing another second straight line which is perpendicular to the two driven wheels and passes through the current vehicle coordinate, wherein the intersection point of the first straight line and the second straight line is the circle center coordinate;
and if the circle center coordinate does not exist, determining the vehicle coordinate at the next moment according to the current vehicle coordinate, the current vehicle body angle and the speed.
5. The method of claim 4, further comprising:
if the circle center coordinate exists, a first circle radius of the current vehicle coordinate is obtained according to the circle center coordinate and the current vehicle coordinate, and a second circle radius is obtained according to the circle center coordinate and the current steering wheel coordinate;
when the first circle radius is smaller than 0.5mm, determining that the unmanned transport vehicle is in pivot steering, and calculating a vehicle body angle;
when the radius of the first circle is larger than 0.5mm, determining that the unmanned transport vehicle is in an arc line, and calculating a vehicle body angle and a current vehicle coordinate according to the current vehicle angle variation and the current steering wheel angle variation; the current vehicle angle variation is determined according to a current vehicle starting angle and the current angle variation, and the current steering wheel angle variation is determined according to the steering wheel starting angle and the current angle variation.
6. An automated guided vehicle simulation device, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the lateral offset of a steering wheel of the unmanned transport vehicle, and the lateral offset of the steering wheel is used for indicating the installation error of the unmanned transport vehicle;
the determination module is used for determining the operation parameters of the unmanned transport vehicle in actual operation;
and the control module is used for controlling a simulation model to simulate the actual running state of the unmanned transport vehicle according to the running parameters and the transverse offset distance of the steering wheel.
7. The automated guided vehicle simulation apparatus of claim 6, wherein the determination module is specifically configured to:
periodically determining an operating parameter of the automated guided vehicle when the automated guided vehicle is actually operated.
8. The automated guided vehicle simulation apparatus of claim 6, wherein the acquisition module is specifically configured to:
determining the positions of two driven wheels and the positions of steering wheels of the unmanned conveying vehicle;
determining a center position between the positions of the two driven wheels;
determining a vertical point of the position of the steering wheel on a connecting line of the positions of the two driven wheels;
and determining the position difference between the central position and the vertical point as the lateral offset of the steering wheel.
9. A computer apparatus comprising a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the automated guided vehicle simulation apparatus is operating, the processor executing the machine readable instructions to perform the steps of the method of steering wheel offset based automated guided vehicle simulation of any of claims 1-5.
10. A storage medium having stored thereon a computer program for executing the steps of the method for rudder wheel offset based automated guided vehicle simulation according to any one of claims 1 to 5 when being executed by a processor.
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